tmc2130: Move current setting code to its own helper class
Concentrate the current setting code into its own TMCCurrentHelper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
6abe132cf0
commit
110bbb3843
|
|
@ -1,6 +1,6 @@
|
|||
# TMC2130 configuration
|
||||
#
|
||||
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
|
||||
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, logging, collections
|
||||
|
|
@ -103,7 +103,7 @@ class FieldHelper:
|
|||
self.field_formatters = field_formatters
|
||||
self.registers = registers
|
||||
if self.registers is None:
|
||||
self.registers = {}
|
||||
self.registers = collections.OrderedDict()
|
||||
self.field_to_register = { f: r for r, fields in self.all_fields.items()
|
||||
for f in fields }
|
||||
def lookup_register(self, field_name, default=None):
|
||||
|
|
@ -226,43 +226,86 @@ class TMCCommandHelper:
|
|||
|
||||
|
||||
######################################################################
|
||||
# Config reading helpers
|
||||
# TMC stepper current config helper
|
||||
######################################################################
|
||||
|
||||
def current_bits(current, sense_resistor, vsense_on):
|
||||
sense_resistor += 0.020
|
||||
vsense = 0.32
|
||||
if vsense_on:
|
||||
vsense = 0.18
|
||||
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
|
||||
return max(0, min(31, cs))
|
||||
MAX_CURRENT = 2.000
|
||||
|
||||
def bits_to_current(bits, sense_resistor, vsense_on):
|
||||
sense_resistor += 0.020
|
||||
vsense = 0.32
|
||||
if vsense_on:
|
||||
vsense = 0.18
|
||||
current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
|
||||
return round(current, 2)
|
||||
class TMCCurrentHelper:
|
||||
def __init__(self, config, mcu_tmc):
|
||||
self.printer = config.get_printer()
|
||||
self.name = config.get_name().split()[-1]
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.fields = mcu_tmc.get_fields()
|
||||
run_current = config.getfloat('run_current',
|
||||
above=0., maxval=MAX_CURRENT)
|
||||
hold_current = config.getfloat('hold_current', run_current,
|
||||
above=0., maxval=MAX_CURRENT)
|
||||
self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
|
||||
vsense, irun, ihold = self._calc_current(run_current, hold_current)
|
||||
self.fields.set_field("vsense", vsense)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
gcode = self.printer.lookup_object("gcode")
|
||||
gcode.register_mux_command(
|
||||
"SET_TMC_CURRENT", "STEPPER", self.name,
|
||||
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
|
||||
def _calc_current_bits(self, current, vsense):
|
||||
sense_resistor = self.sense_resistor + 0.020
|
||||
vref = 0.32
|
||||
if vsense:
|
||||
vref = 0.18
|
||||
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vref
|
||||
- 1. + .5)
|
||||
return max(0, min(31, cs))
|
||||
def _calc_current(self, run_current, hold_current):
|
||||
vsense = False
|
||||
irun = self._calc_current_bits(run_current, vsense)
|
||||
ihold = self._calc_current_bits(hold_current, vsense)
|
||||
if irun < 16 and ihold < 16:
|
||||
vsense = True
|
||||
irun = self._calc_current_bits(run_current, vsense)
|
||||
ihold = self._calc_current_bits(hold_current, vsense)
|
||||
return vsense, irun, ihold
|
||||
def _calc_current_from_field(self, field_name):
|
||||
bits = self.fields.get_field(field_name)
|
||||
sense_resistor = self.sense_resistor + 0.020
|
||||
vref = 0.32
|
||||
if self.fields.get_field("vsense"):
|
||||
vref = 0.18
|
||||
current = (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
|
||||
return round(current, 2)
|
||||
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
|
||||
def cmd_SET_TMC_CURRENT(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
if 'HOLDCURRENT' in params:
|
||||
hold_current = gcode.get_float(
|
||||
'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT)
|
||||
else:
|
||||
hold_current = self._calc_current_from_field("IHOLD")
|
||||
if 'CURRENT' in params:
|
||||
run_current = gcode.get_float(
|
||||
'CURRENT', params, minval=hold_current, maxval=MAX_CURRENT)
|
||||
else:
|
||||
run_current = self._calc_current_from_field("IRUN")
|
||||
if 'HOLDCURRENT' not in params and 'CURRENT' not in params:
|
||||
# Query only
|
||||
gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
|
||||
% (run_current, hold_current))
|
||||
return
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
vsense, irun, ihold = self._calc_current(run_current, hold_current)
|
||||
if vsense != self.fields.get_field("vsense"):
|
||||
val = self.fields.set_field("vsense", vsense)
|
||||
self.mcu_tmc.set_register("CHOPCONF", val, print_time)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
val = self.fields.set_field("IRUN", irun)
|
||||
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
|
||||
|
||||
def calc_current_config(run_current, hold_current, sense_resistor):
|
||||
vsense = False
|
||||
irun = current_bits(run_current, sense_resistor, vsense)
|
||||
ihold = current_bits(hold_current, sense_resistor, vsense)
|
||||
if irun < 16 and ihold < 16:
|
||||
vsense = True
|
||||
irun = current_bits(run_current, sense_resistor, vsense)
|
||||
ihold = current_bits(hold_current, sense_resistor, vsense)
|
||||
return vsense, irun, ihold
|
||||
|
||||
def get_config_current(config):
|
||||
run_current = config.getfloat('run_current', above=0., maxval=2.)
|
||||
hold_current = config.getfloat('hold_current', run_current,
|
||||
above=0., maxval=2.)
|
||||
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
|
||||
vsense, irun, ihold = calc_current_config(
|
||||
run_current, hold_current, sense_resistor)
|
||||
return vsense, irun, ihold, sense_resistor
|
||||
######################################################################
|
||||
# Config reading helpers
|
||||
######################################################################
|
||||
|
||||
def get_config_microsteps(config):
|
||||
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
|
||||
|
|
@ -320,9 +363,7 @@ class TMC2130:
|
|||
self.printer = config.get_printer()
|
||||
self.name = config.get_name().split()[-1]
|
||||
# Setup mcu communication
|
||||
self.regs = collections.OrderedDict()
|
||||
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters,
|
||||
self.regs)
|
||||
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
|
||||
self.get_register = self.mcu_tmc.get_register
|
||||
self.set_register = self.mcu_tmc.set_register
|
||||
|
|
@ -333,15 +374,8 @@ class TMC2130:
|
|||
# Register commands
|
||||
cmdhelper = TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
gcode = self.printer.lookup_object("gcode")
|
||||
gcode.register_mux_command(
|
||||
"SET_TMC_CURRENT", "STEPPER", self.name,
|
||||
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
|
||||
# Setup basic register values
|
||||
vsense, irun, ihold, self.sense_resistor = get_config_current(config)
|
||||
self.fields.set_field("vsense", vsense)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
TMCCurrentHelper(config, self.mcu_tmc)
|
||||
mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
|
||||
self.fields.set_field("MRES", mres)
|
||||
self.fields.set_field("en_pwm_mode", en_pwm)
|
||||
|
|
@ -374,41 +408,6 @@ class TMC2130:
|
|||
def get_phase(self):
|
||||
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
|
||||
return mscnt >> self.fields.get_field("MRES")
|
||||
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2130 driver"
|
||||
def cmd_SET_TMC_CURRENT(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
vsense = bool(self.fields.get_field("vsense"))
|
||||
if 'HOLDCURRENT' in params:
|
||||
hold_current = gcode.get_float(
|
||||
'HOLDCURRENT', params, above=0., maxval=2.)
|
||||
else:
|
||||
hold_current = bits_to_current(
|
||||
self.fields.get_field("IHOLD"),
|
||||
self.sense_resistor,
|
||||
vsense)
|
||||
if 'CURRENT' in params:
|
||||
run_current = gcode.get_float(
|
||||
'CURRENT', params, minval=hold_current, maxval=2.)
|
||||
else:
|
||||
run_current = bits_to_current(
|
||||
self.fields.get_field("IRUN"),
|
||||
self.sense_resistor,
|
||||
vsense)
|
||||
if 'HOLDCURRENT' in params or 'CURRENT' in params:
|
||||
print_time = self.printer.lookup_object('toolhead')\
|
||||
.get_last_move_time()
|
||||
vsense_calc, irun, ihold = calc_current_config(run_current,
|
||||
hold_current, self.sense_resistor)
|
||||
if (vsense_calc != vsense):
|
||||
self.fields.set_field("vsense", vsense_calc)
|
||||
self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], print_time)
|
||||
else:
|
||||
gcode.respond_info(
|
||||
"Run Current: %0.2fA Hold Current: %0.2fA"
|
||||
% (run_current, hold_current))
|
||||
|
||||
# Endstop wrapper that enables tmc2130 "sensorless homing"
|
||||
class TMC2130VirtualEndstop:
|
||||
|
|
@ -430,14 +429,14 @@ class TMC2130VirtualEndstop:
|
|||
self.TimeoutError = self.mcu_endstop.TimeoutError
|
||||
def home_prepare(self):
|
||||
self.tmc2130.fields.set_field("en_pwm_mode", 0)
|
||||
self.tmc2130.fields.set_field("diag1_stall", 1)
|
||||
self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
|
||||
val = self.tmc2130.fields.set_field("diag1_stall", 1)
|
||||
self.tmc2130.set_register("GCONF", val)
|
||||
self.tmc2130.set_register("TCOOLTHRS", 0xfffff)
|
||||
self.mcu_endstop.home_prepare()
|
||||
def home_finalize(self):
|
||||
self.tmc2130.fields.set_field("en_pwm_mode", self.en_pwm)
|
||||
self.tmc2130.fields.set_field("diag1_stall", 0)
|
||||
self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
|
||||
val = self.tmc2130.fields.set_field("diag1_stall", 0)
|
||||
self.tmc2130.set_register("GCONF", val)
|
||||
self.tmc2130.set_register("TCOOLTHRS", 0)
|
||||
self.mcu_endstop.home_finalize()
|
||||
|
||||
|
|
|
|||
|
|
@ -310,28 +310,18 @@ class TMC2208:
|
|||
self.printer = config.get_printer()
|
||||
self.name = config.get_name().split()[-1]
|
||||
# Setup mcu communication
|
||||
self.regs = collections.OrderedDict()
|
||||
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
|
||||
self.regs)
|
||||
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = MCU_TMC_uart(config, Registers, self.fields)
|
||||
self.get_register = self.mcu_tmc.get_register
|
||||
self.set_register = self.mcu_tmc.set_register
|
||||
# Register commands
|
||||
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
gcode = self.printer.lookup_object("gcode")
|
||||
gcode.register_mux_command(
|
||||
"SET_TMC_CURRENT", "STEPPER", self.name,
|
||||
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
|
||||
# Setup basic register values
|
||||
self.fields.set_field("pdn_disable", True)
|
||||
self.fields.set_field("mstep_reg_select", True)
|
||||
self.fields.set_field("multistep_filt", True)
|
||||
vsense, irun, ihold, self.sense_resistor = \
|
||||
tmc2130.get_config_current(config)
|
||||
self.fields.set_field("vsense", vsense)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
|
||||
mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
|
||||
self.fields.set_field("MRES", mres)
|
||||
self.fields.set_field("en_spreadCycle", not en)
|
||||
|
|
@ -368,40 +358,6 @@ class TMC2208:
|
|||
def get_phase(self):
|
||||
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
|
||||
return mscnt >> self.fields.get_field("MRES")
|
||||
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2208 driver"
|
||||
def cmd_SET_TMC_CURRENT(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
vsense = bool(self.fields.get_field("vsense"))
|
||||
if 'HOLDCURRENT' in params:
|
||||
hold_current = gcode.get_float(
|
||||
'HOLDCURRENT', params, above=0., maxval=2.)
|
||||
else:
|
||||
hold_current = tmc2130.bits_to_current(
|
||||
self.fields.get_field("IHOLD"),
|
||||
self.sense_resistor,
|
||||
vsense)
|
||||
if 'CURRENT' in params:
|
||||
run_current = gcode.get_float(
|
||||
'CURRENT', params, minval=hold_current, maxval=2.)
|
||||
else:
|
||||
run_current = tmc2130.bits_to_current(
|
||||
self.fields.get_field("IRUN"),
|
||||
self.sense_resistor,
|
||||
vsense)
|
||||
if 'HOLDCURRENT' in params or 'CURRENT' in params:
|
||||
vsense_calc, irun, ihold = tmc2130.calc_current_config(run_current,
|
||||
hold_current, self.sense_resistor)
|
||||
self.printer.lookup_object('toolhead').wait_moves()
|
||||
if (vsense_calc != vsense):
|
||||
self.fields.set_field("vsense", vsense_calc)
|
||||
self.set_register("CHOPCONF", self.regs["CHOPCONF"])
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"])
|
||||
else:
|
||||
gcode.respond_info(
|
||||
"Run Current: %0.2fA Hold Current: %0.2fA"
|
||||
% (run_current, hold_current))
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC2208(config)
|
||||
|
|
|
|||
Loading…
Reference in New Issue