tmc2130: Initial support for sensorless homing

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-22 23:39:06 -04:00
parent 26246b1f28
commit 1e6fa5722a
3 changed files with 80 additions and 5 deletions

View File

@ -461,10 +461,18 @@
#driver_TOFF: 4
#driver_HEND: 7
#driver_HSTRT: 0
#driver_SGT: 0
# Set the given register during the configuration of the TMC2130
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag1_pin:
# The micro-controller pin attached to the DIAG1 line of the TMC2130
# chip. Setting this creates a "tmc2130_stepper_x:virtual_endstop"
# virtual pin which may be used as the stepper's endstop_pin. Doing
# this enables "sensorless homing". (Be sure to also set driver_SGT
# to an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
# Homing override. One may use this mechanism to run a series of

View File

@ -9,6 +9,7 @@ dir_pin: PL0
enable_pin: !PA7
step_distance: .005
endstop_pin: ^PB6
#endstop_pin: tmc2130_stepper_x:virtual_endstop
position_endstop: 0
position_max: 250
@ -17,6 +18,7 @@ cs_pin: PG0
microsteps: 16
run_current: .5
sense_resistor: 0.220
diag1_pin: !PK2
[stepper_y]
step_pin: PC1
@ -24,6 +26,7 @@ dir_pin: !PL1
enable_pin: !PA6
step_distance: .005
endstop_pin: ^PB5
#endstop_pin: tmc2130_stepper_y:virtual_endstop
position_endstop: 0
position_max: 210
@ -32,6 +35,7 @@ cs_pin: PG2
microsteps: 16
run_current: .5
sense_resistor: 0.220
diag1_pin: !PK7
[stepper_z]
step_pin: PC2
@ -39,6 +43,7 @@ dir_pin: PL2
enable_pin: !PA5
step_distance: .0025
endstop_pin: ^PB4
#endstop_pin: tmc2130_stepper_z:virtual_endstop
position_endstop: 0.5
position_max: 200
@ -47,6 +52,7 @@ cs_pin: PK5
microsteps: 16
run_current: .5
sense_resistor: 0.220
diag1_pin: !PK6
[extruder]
step_pin: PC3
@ -70,6 +76,7 @@ cs_pin: PK4
microsteps: 16
run_current: .5
sense_resistor: 0.220
diag1_pin: !PK3
[heater_bed]
heater_pin: PG5

View File

@ -6,12 +6,17 @@
import math
TMC_FREQUENCY=13200000.
REG_GCONF=0x00
GCONF_EN_PWM_MODE=1<<2
GCONF_DIAG1_STALL=1<<8
REG_TCOOLTHRS=0x14
REG_COOLCONF=0x6d
class tmc2130:
class TMC2130:
def __init__(self, config):
printer = config.get_printer()
self.printer = config.get_printer()
# pin setup
ppins = printer.lookup_object("pins")
ppins = self.printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
if cs_pin_params['invert']:
@ -39,6 +44,12 @@ class tmc2130:
toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins.register_chip("_".join(config.get_name().split()[:2]), self)
self.send_spi_cmd = None
self.mcu.add_config_object(self)
# calculate current
vsense = False
irun = self.current_bits(run_current, sense_resistor, vsense)
@ -48,7 +59,8 @@ class tmc2130:
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
# configure GCONF
self.add_config_cmd(0x00, (sc_velocity > 0.) << 2)
self.reg_GCONF = (sc_velocity > 0.) << 2
self.add_config_cmd(REG_GCONF, self.reg_GCONF)
# configure CHOPCONF
self.add_config_cmd(
0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
@ -59,6 +71,8 @@ class tmc2130:
self.add_config_cmd(0x11, tpowerdown)
# configure TPWMTHRS
self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
# configure COOLCONF
self.add_config_cmd(REG_COOLCONF, sgt << 16)
def add_config_cmd(self, addr, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
@ -78,6 +92,52 @@ class tmc2130:
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << self.mres)
return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
def setup_pin(self, pin_params):
if (pin_params['pin'] != 'virtual_endstop'
or pin_params['type'] != 'endstop'):
raise pins.error("tmc2130 virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
return TMC2130VirtualEndstop(self)
def build_config(self):
cmd_queue = self.mcu.alloc_command_queue()
self.spi_send_cmd = self.mcu.lookup_command(
"spi_send oid=%c data=%*s", cq=cmd_queue)
def set_register(self, addr, val):
data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
self.spi_send_cmd.send([self.oid, data])
# Endstop wrapper that enables tmc2130 "sensorless homing"
class TMC2130VirtualEndstop:
def __init__(self, tmc2130):
self.tmc2130 = tmc2130
if tmc2130.diag1_pin is None:
raise pins.error("tmc2130 virtual endstop requires diag1_pin")
ppins = tmc2130.printer.lookup_object('pins')
self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
if self.mcu_endstop.get_mcu() is not tmc2130.mcu:
raise pins.error("tmc2130 virtual endstop must be on same mcu")
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self):
gconf = self.tmc2130.reg_GCONF
gconf &= ~GCONF_EN_PWM_MODE
gconf |= GCONF_DIAG1_STALL
self.tmc2130.set_register(REG_GCONF, gconf)
self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
self.mcu_endstop.home_prepare()
def home_finalize(self):
self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
self.tmc2130.set_register(REG_TCOOLTHRS, 0)
self.mcu_endstop.home_finalize()
def load_config_prefix(config):
return tmc2130(config)
return TMC2130(config)