added demo_script only_step_pin

- added get_toff function
- set_direction_reg now sets the direction variable in order to get the run_to_position function to work without the DIR gpio pin

demo/demo_script_10_only_step_pin.py

@@ -0,0 +1,156 @@
+#pylint: disable=wildcard-import
+#pylint: disable=unused-wildcard-import
+#pylint: disable=unused-import
+#pylint: disable=duplicate-code
+"""
+test file for testing basic movement
+"""
+
+import time
+try:
+    from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
+except ModuleNotFoundError:
+    from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
+
+
+print("---")
+print("SCRIPT START")
+print("---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# initiate the TMC_2209 class
+# use your pins for pin_en, pin_step, pin_dir here
+#-----------------------------------------------------------------------
+if BOARD == Board.RASPBERRY_PI:
+    tmc = TMC_2209(pin_step=16, loglevel=Loglevel.DEBUG)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(pin_step=16, serialport="/dev/ttyAMA0", loglevel=Loglevel.DEBUG)
+elif BOARD == Board.NVIDIA_JETSON:
+    tmc = TMC_2209(pin_step=13, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
+else:
+    # just in case
+    tmc = TMC_2209(pin_step=21, loglevel=Loglevel.DEBUG)
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the loglevel of the libary (currently only printed)
+# set whether the movement should be relative or absolute
+# both optional
+#-----------------------------------------------------------------------
+tmc.tmc_logger.set_loglevel(Loglevel.DEBUG)
+tmc.set_movement_abs_rel(MovementAbsRel.ABSOLUTE)
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions change settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.set_toff(0)
+tmc.set_direction_reg(False)
+tmc.set_current(300)
+tmc.set_interpolation(True)
+tmc.set_spreadcycle(False)
+tmc.set_microstepping_resolution(2)
+tmc.set_internal_rsense(False)
+
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# these functions read and print the current settings in the TMC register
+#-----------------------------------------------------------------------
+tmc.read_ioin()
+tmc.read_chopconf()
+tmc.read_drv_status()
+tmc.read_gconf()
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed
+#-----------------------------------------------------------------------
+# tmc.set_acceleration(2000)
+# tmc.set_max_speed(500)
+
+#-----------------------------------------------------------------------
+# set the Acceleration and maximal Speed in fullsteps
+#-----------------------------------------------------------------------
+tmc.set_acceleration_fullstep(1000)
+tmc.set_max_speed_fullstep(250)
+
+
+
+
+
+
+
+#-----------------------------------------------------------------------
+# activate the motor current output
+#-----------------------------------------------------------------------
+#tmc.set_motor_enabled(True)
+tmc.set_toff(3)
+
+
+
+
+#-----------------------------------------------------------------------
+# move the motor 1 revolution
+#-----------------------------------------------------------------------
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.set_direction_reg(True)
+tmc.run_to_position_steps(0)                               #move to position 0
+
+tmc.set_direction_reg(False)
+tmc.run_to_position_steps(400, MovementAbsRel.RELATIVE)    #move 400 steps forward
+tmc.set_direction_reg(True)
+tmc.run_to_position_steps(-400, MovementAbsRel.RELATIVE)   #move 400 steps backward
+
+tmc.set_direction_reg(False)
+tmc.run_to_position_steps(400)                             #move to position 400
+tmc.set_direction_reg(True)
+tmc.run_to_position_steps(0)                               #move to position 0
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deactivate the motor current output
+#-----------------------------------------------------------------------
+#tmc.set_motor_enabled(False)
+tmc.set_toff(0)
+
+print("---\n---")
+
+
+
+
+
+#-----------------------------------------------------------------------
+# deinitiate the TMC_2209 class
+#-----------------------------------------------------------------------
+del tmc
+
+print("---")
+print("SCRIPT FINISHED")
+print("---")

src/TMC_2209/TMC_2209_StepperDriver.py

@@ -41,7 +41,7 @@ class TMC_2209:
         read_microstepping_resolution, get_microstepping_resolution, set_microstepping_resolution,
         set_mstep_resolution_reg_select, get_interface_transmission_counter, get_tstep, set_vactual,
         get_stallguard_result, set_stallguard_threshold, set_coolstep_threshold,
-        get_microstep_counter, get_microstep_counter_in_steps, set_toff
+        get_microstep_counter, get_microstep_counter_in_steps, get_toff, set_toff
     )
 
     from ._TMC_2209_move import (
@@ -144,8 +144,9 @@ def __init__(self,
         TMC_gpio.init(gpio_mode)
 
         self.tmc_logger.log(f"EN Pin: {pin_en}", Loglevel.DEBUG)
-        self._pin_en = pin_en
-        TMC_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)
+        if pin_en != -1:
+            self._pin_en = pin_en
+            TMC_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)
 
         self.tmc_logger.log(f"STEP Pin: {pin_step}", Loglevel.DEBUG)
         if pin_step != -1:
@@ -210,8 +211,11 @@ def set_motor_enabled(self, en):
         Args:
             en (bool): whether the motor current output should be enabled
         """
-        TMC_gpio.gpio_output(self._pin_en, not en)
-        self.tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)
+        if self._pin_en != -1:
+            TMC_gpio.gpio_output(self._pin_en, not en)
+            self.tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)
+        else:
+            self.tmc_logger.log(f"Motor pin is: {self._pin_en}", Loglevel.INFO)
 
 
 
@@ -324,8 +328,11 @@ def do_homing2(self, revolutions, threshold=None):
 
     def reverse_direction_pin(self):
         """reverses the motor shaft direction"""
-        self._direction = not self._direction
-        TMC_gpio.gpio_output(self._pin_dir, self._direction)
+        if self._pin_dir != -1:
+            self._direction = not self._direction
+            TMC_gpio.gpio_output(self._pin_dir, self._direction)
+        else:
+            self.tmc_logger.log(f"Direction pin is: {self._pin_dir}", Loglevel.INFO)
 
 
 
@@ -335,8 +342,11 @@ def set_direction_pin(self, direction):
         Args:
             direction (bool): motor shaft direction: False = CCW; True = CW
         """
-        self._direction = direction
-        TMC_gpio.gpio_output(self._pin_dir, direction)
+        if self._pin_dir != -1:
+            self._direction = direction
+            TMC_gpio.gpio_output(self._pin_dir, direction)
+        else:
+            self.tmc_logger.log(f"Direction pin is: {self._pin_dir}", Loglevel.INFO)
 
 
 

src/TMC_2209/_TMC_2209_comm.py

@@ -242,6 +242,7 @@ def set_direction_reg(self, direction):
         self.tmc_logger.log("write normal motor direction", Loglevel.INFO)
         gconf = self.tmc_uart.clear_bit(gconf, tmc_reg.shaft)
     self.tmc_uart.write_reg_check(tmc_reg.GCONF, gconf)
+    self._direction = not direction
 
 
 
@@ -505,6 +506,23 @@ def set_interpolation(self, en):
 
 
 
+def get_toff(self):
+    """returns the TOFF register value
+
+    Returns:
+        int: TOFF register value
+    """
+    chopconf = self.tmc_uart.read_int(tmc_reg.CHOPCONF)
+
+    toff = chopconf & (tmc_reg.toff0 | tmc_reg.toff1 |
+                        tmc_reg.toff2 | tmc_reg.toff3)
+
+    toff = toff >> 0
+
+    return toff
+
+
+
 def set_toff(self, toff):
     """Sets TOFF register to value
 
@@ -530,6 +548,7 @@ def set_toff(self, toff):
     self.tmc_logger.log(f"writing toff setting: {str(toff)}", Loglevel.INFO)
 
 
+
 def read_microstepping_resolution(self):
     """returns the current native microstep resolution (1-256)
     this reads the value from the driver register

src/TMC_2209/_TMC_2209_reg.py

@@ -40,6 +40,10 @@
 uv_cp               = 1<<2
 
 #CHOPCONF
+toff0               = 1<<0
+toff1               = 1<<1               
+toff2               = 1<<2
+toff3               = 1<<3
 vsense              = 1<<17
 msres0              = 1<<24
 msres1              = 1<<25