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Examples: Add TMC9660 demos on flags and choice read
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trinamic-bp committed Jan 9, 2025
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89 changes: 89 additions & 0 deletions examples/evalboards/TMC9660/param_app/dual_use/demo_flags.py
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################################################################################
# Copyright © 2024 Analog Devices Inc. All Rights Reserved.
# This software is proprietary to Analog Devices, Inc. and its licensors.
################################################################################
"""Demo on how to read and write flags.
Use the `connection_mode` to change the hardware connection.
#############################################################################################################
# connection_mode == with_landungsbruecke
#############################################################################################################
On Windows the config upload and app start can be done with:
python ubltools_1.0.1/ubl_evalsystem_wrapper.py <COM-PORT> write config ubltools_1.0.1/ioconfig_tmc9660-3ph-eval.toml
python ubltools_1.0.1/ubl_evalsystem_wrapper.py <COM-PORT> start
Where <COM-PORT> needs to be replaced by the COM port of the Landungsbruecke.
Important: first connect USB and then power the TMC9660-3PH-EVAL.
+-----+ +-------------------+
USB | |==| |
-------| |==| |
Connected to the machine | |==| |
running this script. |LB |==|TMC9660-3PH-EVAL |
+-----+ +-------------------+
#############################################################################################################
# connection_mode == headless
#############################################################################################################
On Windows the config upload and app start can be done with:
ubltools_1.0.1/ublcli.exe --port <COM-PORT> write config ubltools_1.0.1/ioconfig_tmc9660-3ph-eval.toml
ubltools_1.0.1/ublcli.exe --port <COM-PORT> start
Where <COM-PORT> needs to be replaced by the COM port of the USB-UART cable.
--------+
| USB-UART Cable - Connected to the machine running this script.
+--|----------------+
| | |
| |
| |
|TMC9660-3PH-EVAL |
+-------------------+
"""
from typing import Literal

from pytrinamic.connections import ConnectionManager
from pytrinamic.ic import TMC9660
from pytrinamic.evalboards import TMC9660_3PH_eval

# Select the connection mode
connection_mode: Literal["with_landungsbruecke", "headless"] = "with_landungsbruecke"
com_port_in_headless_mode = "COM5" # Note: Change this to the com port of the USB-UART cable used.


if connection_mode == "with_landungsbruecke":
cm = ConnectionManager()
elif connection_mode == "headless":
cm = ConnectionManager(f"--interface serial_tmcl --port {com_port_in_headless_mode}")

with cm.connect() as my_interface:

if connection_mode == "with_landungsbruecke":
tmc9660_device = TMC9660_3PH_eval(my_interface)
elif connection_mode == "headless":
tmc9660_device = TMC9660(my_interface)

#############################################################################################################
# Write
#############################################################################################################

write_value = 0 # Keep the value for all other flags at 0 to not change their state.
write_value = TMC9660.ap.GENERAL_ERROR_FLAGS.ITT_1_EXCEEDED.set(write_value, 1)
write_value = TMC9660.ap.GENERAL_ERROR_FLAGS.ITT_2_EXCEEDED.set(write_value, 1)
tmc9660_device.set_axis_parameter(TMC9660.ap.GENERAL_ERROR_FLAGS, write_value)

#############################################################################################################
# Read
#############################################################################################################

# Read all flags into an integer
general_status_flags = tmc9660_device.get_axis_parameter(TMC9660.ap.GENERAL_STATUS_FLAGS)

# Extract a singled flag's state
regulation_stopped = TMC9660.ap.GENERAL_STATUS_FLAGS.REGULATION_STOPPED.get(general_status_flags)

# Extract all flag states
for flag in TMC9660.ap.GENERAL_STATUS_FLAGS.fields:
print(f"{flag.name}: {flag.get(general_status_flags)}")

75 changes: 75 additions & 0 deletions examples/evalboards/TMC9660/param_app/dual_use/demo_read_choice.py
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################################################################################
# Copyright © 2024 Analog Devices Inc. All Rights Reserved.
# This software is proprietary to Analog Devices, Inc. and its licensors.
################################################################################
"""Demo on how to read a choice and get the string representation.
Use the `connection_mode` to change the hardware connection.
#############################################################################################################
# connection_mode == with_landungsbruecke
#############################################################################################################
On Windows the config upload and app start can be done with:
python ubltools_1.0.1/ubl_evalsystem_wrapper.py <COM-PORT> write config ubltools_1.0.1/ioconfig_tmc9660-3ph-eval.toml
python ubltools_1.0.1/ubl_evalsystem_wrapper.py <COM-PORT> start
Where <COM-PORT> needs to be replaced by the COM port of the Landungsbruecke.
Important: first connect USB and then power the TMC9660-3PH-EVAL.
+-----+ +-------------------+
USB | |==| |
-------| |==| |
Connected to the machine | |==| |
running this script. |LB |==|TMC9660-3PH-EVAL |
+-----+ +-------------------+
#############################################################################################################
# connection_mode == headless
#############################################################################################################
On Windows the config upload and app start can be done with:
ubltools_1.0.1/ublcli.exe --port <COM-PORT> write config ubltools_1.0.1/ioconfig_tmc9660-3ph-eval.toml
ubltools_1.0.1/ublcli.exe --port <COM-PORT> start
Where <COM-PORT> needs to be replaced by the COM port of the USB-UART cable.
--------+
| USB-UART Cable - Connected to the machine running this script.
+--|----------------+
| | |
| |
| |
|TMC9660-3PH-EVAL |
+-------------------+
"""
from typing import Literal

from pytrinamic.connections import ConnectionManager
from pytrinamic.ic import TMC9660
from pytrinamic.evalboards import TMC9660_3PH_eval

# Select the connection mode
connection_mode: Literal["with_landungsbruecke", "headless"] = "with_landungsbruecke"
com_port_in_headless_mode = "COM5" # Note: Change this to the com port of the USB-UART cable used.


if connection_mode == "with_landungsbruecke":
cm = ConnectionManager()
elif connection_mode == "headless":
cm = ConnectionManager(f"--interface serial_tmcl --port {com_port_in_headless_mode}")

with cm.connect() as my_interface:

if connection_mode == "with_landungsbruecke":
tmc9660_device = TMC9660_3PH_eval(my_interface)
elif connection_mode == "headless":
tmc9660_device = TMC9660(my_interface)

# Read the current value of the commutation mode as an integer
commutation_mode = tmc9660_device.get_axis_parameter(TMC9660.ap.COMMUTATION_MODE)

# Get the name of the commutation mode
commutation_mode_name = TMC9660.ap.COMMUTATION_MODE.choice.get(commutation_mode).name

# Print all available commutation mode options
for option in TMC9660.ap.COMMUTATION_MODE.choice.options():
print(f"{option.name}: {option.value}")

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