Understanding Trinamic's Registers

[robinet99]

Hi, I am in the process of trying to learn a bit about Trinamic Stepper Motors. I successfully downloaded an Arduino program from the Trinamc site and got a motor to spin using the Trinamic 5130-Eval board and an Arduino 2560 Mega 3 . I also was successful with Trinamics TMCL-IDE 3.0 program. There was a lot of unsuccessful attempts as well including trinamics instructions on Note 38 with eclipse but getting back to my point.

Now that I have something running, it seems I'm having a hard time figuring out what the registers actually do. Is there any documentation on the registers? The header file didn't even include the register addresses being used in the example program.

For example in the software from the setup which I have working (copied below), I see that the sendData calls are addressing registers 0x80 and 0xEC.

I would like to find a document which explains exactly what these registers do. The brief comments are just not enough for me.

Or perhaps there is a better way to learn about these steppers. I'm open to suggestions and thankful to anyone who responds.

Thanks so much

Robin

  SPI.setBitOrder(MSBFIRST);
  SPI.setClockDivider(SPI_CLOCK_DIV8);
  SPI.setDataMode(SPI_MODE3);
  SPI.begin();

  Serial.begin(9600);

  sendData(0x80,0x00000000);      //GCONF

  sendData(0xEC,0x000101D5);      //CHOPCONF: TOFF=5, HSTRT=5, HEND=3, TBL=2, CHM=0 (spreadcycle)
  sendData(0x90,0x00070603);      //IHOLD_IRUN: IHOLD=3, IRUN=10 (max.current), IHOLDDELAY=6
  sendData(0x91,0x0000000A);      //TPOWERDOWN=10

[mrburnette]

TMC5130A Datasheet (mouser.com)

Registers begin chpt# 6

[robinet99]

Hey, Thanks a lot for this document. Not sure how I never came across it.
I appreciate it very much.

By the way, if a 5130 can control a motor, why do some project's use both a controller and a driver?

have a great one,

Best,

Robin