Added TMC5160 support #725
Conversation
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Hello @amken3d this is a very impressive PR! Thank you for working on it. I changed the branch for it to Also, I made a comment, although did not have time to look deeply in the new code. Also, wondering if you could please add a smoketest/example? Thanks! |
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@deadprogram, thank you for the kind words. Regards |
go.mod
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| go 1.18 | ||
| go 1.22.1 | ||
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| toolchain go1.23.3 |
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Same comment here as above.
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When i do go mod tidy, it automatically upgrades to toolchain go1.23.1 Is there a way to pin it to 1.21? I've tried everything that google suggested and failed |
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I think the
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@deadprogram : Updated |
tmc5160/tmc5160.go
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| if !exists { | ||
| regName = "Unknown Register" | ||
| } | ||
| //println("Reading reg:", regName) |
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Please remove commented out lines.
tmc5160/SPIcomm.go
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| if err != nil { | ||
| return 0, err | ||
| } | ||
| //println("Received", rx[0], rx[1], rx[2], rx[3], rx[4]) |
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Please remove commented out lines.
examples/tmc5160/main.go
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| // Step 1. Setup your protocol. SPI setup shown below | ||
| spi := machine.SPI1 | ||
| spi.Configure(machine.SPIConfig{ | ||
| SCK: machine.GPIO10, |
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You should not need to specify SCK, SDI, and SDO here since they are already the defaults for SPI1 on Pico. See https://github.com/tinygo-org/tinygo/blob/release/src/machine/board_pico.go#L60-L64 and https://github.com/tinygo-org/tinygo/blob/release/src/machine/machine_rp2040_spi.go#L176-L180
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The file named |
tmc5160/func_test.go
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| @@ -0,0 +1,61 @@ | |||
| //go:build test | |||
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I think due to this directive, the tests are in this file are not being run by the CI.
See https://github.com/tinygo-org/drivers/pull/725/checks#step:7:182
If you want to exclude these tests from being run by the GH action you should add it here https://github.com/tinygo-org/drivers/blob/dev/Makefile#L22
It would be better if the tests can run, however. 😸
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I removed the file as it was not relevant.
tmc5160/spicomm.go
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| byte(txData >> 8), // Next 8 bits of data | ||
| byte(txData), // Lower 8 bits of data | ||
| } | ||
| //println("Sending", tx[0], tx[1], tx[2], tx[3], tx[4]) |
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Please remove commented out line here.
Requesting review of the the PR to add support for TMC5160. The TMC5160 is a popular stepper driver and is feature packed. This implementation add support to using the TMC5160 using either the UART mode or the SPI mode. The code has been tested to work on rp2040. The smoke tests passed using "make test". The code is not fully tested for all available features of the TMC5160 as it is a pretty complicated piece of silicon.