Added TMC5160 support

examples/tmc5160/main.go

@@ -0,0 +1,61 @@
+// 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{
+		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)
+}

go.mod

@@ -1,20 +1,23 @@
 module tinygo.org/x/drivers
 
-go 1.18
+go 1.22.1
+
+toolchain go1.23.1
 
 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
 )
 
 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
 )

go.sum

@@ -3,21 +3,25 @@ github.com/eclipse/paho.mqtt.golang v1.2.0 h1:1F8mhG9+aO5/xpdtFkW4SxOJB67ukuDC3t
 github.com/eclipse/paho.mqtt.golang v1.2.0/go.mod h1:H9keYFcgq3Qr5OUJm/JZI/i6U7joQ8SYLhZwfeOo6Ts=
 github.com/frankban/quicktest v1.10.2 h1:19ARM85nVi4xH7xPXuc5eM/udya5ieh7b/Sv+d844Tk=
 github.com/frankban/quicktest v1.10.2/go.mod h1:K+q6oSqb0W0Ininfk863uOk1lMy69l/P6txr3mVT54s=
-github.com/google/go-cmp v0.5.2 h1:X2ev0eStA3AbceY54o37/0PQ/UWqKEiiO2dKL5OPaFM=
 github.com/google/go-cmp v0.5.2/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
+github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510 h1:El6M4kTTCOh6aBiKaUGG7oYTSPP8MxqL4YI3kZKwcP4=
 github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510/go.mod h1:pupxD2MaaD3pAXIBCelhxNneeOaAeabZDe5s4K6zSpQ=
 github.com/kr/pretty v0.2.1 h1:Fmg33tUaq4/8ym9TJN1x7sLJnHVwhP33CNkpYV/7rwI=
 github.com/kr/pretty v0.2.1/go.mod h1:ipq/a2n7PKx3OHsz4KJII5eveXtPO4qwEXGdVfWzfnI=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
+github.com/orsinium-labs/tinymath v1.1.0 h1:KomdsyLHB7vE3f1nRAJF2dyf1m/gnM2HxfTeV1vS5UA=
+github.com/orsinium-labs/tinymath v1.1.0/go.mod h1:WPXX6ei3KSXG7JfA03a+ekCYaY9SWN4I+JRl2p6ck+A=
 github.com/soypat/natiu-mqtt v0.5.1 h1:rwaDmlvjzD2+3MCOjMZc4QEkDkNwDzbct2TJbpz+TPc=
 github.com/soypat/natiu-mqtt v0.5.1/go.mod h1:xEta+cwop9izVCW7xOx2W+ct9PRMqr0gNVkvBPnQTc4=
 github.com/valyala/fastjson v1.6.3/go.mod h1:CLCAqky6SMuOcxStkYQvblddUtoRxhYMGLrsQns1aXY=
+golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d h1:0olWaB5pg3+oychR51GUVCEsGkeCU/2JxjBgIo4f3M0=
+golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d/go.mod h1:qj5a5QZpwLU2NLQudwIN5koi3beDhSAlJwa67PuM98c=
 golang.org/x/net v0.7.0 h1:rJrUqqhjsgNp7KqAIc25s9pZnjU7TUcSY7HcVZjdn1g=
 golang.org/x/net v0.7.0/go.mod h1:2Tu9+aMcznHK/AK1HMvgo6xiTLG5rD5rZLDS+rp2Bjs=
-golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 h1:E7g+9GITq07hpfrRu66IVDexMakfv52eLZ2CXBWiKr4=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 tinygo.org/x/drivers v0.14.0/go.mod h1:uT2svMq3EpBZpKkGO+NQHjxjGf1f42ra4OnMMwQL2aI=
 tinygo.org/x/drivers v0.15.1/go.mod h1:uT2svMq3EpBZpKkGO+NQHjxjGf1f42ra4OnMMwQL2aI=

smoketest.sh

@@ -136,6 +136,7 @@ tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu9150/mai
 tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/sh1106/macropad_spi
 tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/encoders/quadrature-interrupt
 tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go
+tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go
 # network examples (espat)
 tinygo build -size short -o ./build/test.hex -target=challenger-rp2040 ./examples/net/ntpclient/
 # network examples (wifinina)

tmc5160/README.MD

@@ -0,0 +1,211 @@
+# TMC5160 Driver for Go (TinyGo)
+
+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.
+
+## Table of Contents
+
+- [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)
+
+## Installation
+
+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/).
+
+### Dependencies
+
+- **machine**: To interface with hardware on platforms like Raspberry Pi, STM32, etc.
+- **TinyGo**: A Go compiler for embedded systems.
+
+Add the module
+
+```bash
+import "tinygo.org/x/drivers/tmc5160"
+```
+
+### Communication Modes
+
+The TMC5160 supports two communication modes for controlling the motor:
+
+**SPI Mode**
+
+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
+
+In SPI mode, you must configure the SPI interface on your microcontroller. Here's how to set up SPI communication for the TMC5160.
+
+```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,
+})
+
+csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+```
+**Sending Commands via SPI**
+
+The driver supports reading and writing registers using the SPIComm interface, which is initialized with the configured SPI bus and CS pins
+
+```go
+comm := tmc5160.NewSPIComm(*spi, csPins)
+driver := tmc5160.NewTMC5160(comm, driverIndex)
+driver.WriteRegister(tmc5160.GCONF, value)
+
+```
+
+**UART Mode**
+
+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
+
+In UART mode, you will need to configure the UART interface with the appropriate baud rate and settings:
+
+```go
+uart := machine.UART0
+uart.Configure(machine.UARTConfig{
+    BaudRate: 115200,
+})
+```
+#### Sending Commands via UART
+
+The UART communication is handled through the UARTComm struct, which wraps the UART interface.
+
+```go
+comm := tmc5160.NewUARTComm(uart, 0x01)
+driver := tmc5160.NewTMC5160(comm, 0)
+driver.WriteRegister(tmc5160.GCONF, 0x01)
+```
+
+## Usage Example
+
+Here’s a simple example of how to use the TMC5160 driver with SPI and UART modes:
+
+```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
+
+You can easily read and write registers using the WriteRegister and ReadRegister methods:
+
+```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)
+}
+
+```
+
+## API Reference
+
+    NewSPIComm(spi machine.SPI, csPins map[uint8]machine.Pin) *SPIComm
+
+Creates a new SPI communication interface for the TMC5160.
+
+    NewUARTComm(uart machine.UART, address uint8) *UARTComm
+
+Creates a new UART communication interface for the TMC5160.
+
+    NewTMC5160(comm RegisterComm, address uint8) *TMC5160
+
+Creates a new instance of the TMC5160 driver.
+
+    WriteRegister(register uint8, value uint32) error
+
+Writes a value to the specified register.
+
+    ReadRegister(register uint8) (uint32, error)
+
+Reads a value from the specified register.
+
+## License
+
+This project is licensed under the MIT License 
+
+
+