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tmc2660: Move current setting code to its own helper class 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-05 23:36:57 -04:00 committed by KevinOConnor
parent b2729f38a6
commit 35edc4d63c
1 changed files with 78 additions and 66 deletions
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144
klippy/extras/tmc2660.py
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@ -1,24 +1,12 @@
# TMC2660 configuration
#
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, collections, logging
import bus, tmc2130
def current_bits(current, sense_resistor, vsense_on):
vsense = 0.165 if vsense_on else 0.310
cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
return max(0, min(cs, 31))
def get_config_current(run_current, sense_resistor):
vsense = False
cs = current_bits(run_current, sense_resistor, vsense)
if cs < 16:
vsense = True
cs = current_bits(run_current, sense_resistor, vsense)
return cs, vsense
Registers = {
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
"CHOPCONF": 0x8, "DRVCTRL": 0x0
@ -133,6 +121,80 @@ FieldFormatters = {
}
######################################################################
# TMC stepper current config helper
######################################################################
MAX_CURRENT = 2.400
class TMC2660CurrentHelper:
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()
self.current = config.getfloat('run_current', minval=0.1,
maxval=MAX_CURRENT)
self.sense_resistor = config.getfloat('sense_resistor')
vsense, cs = self._calc_current(self.current)
self.fields.set_field("CS", cs)
self.fields.set_field("VSENSE", vsense)
# Register ready/printing handlers
self.idle_current_percentage = config.getint(
'idle_current_percent', default=100, minval=0, maxval=100)
if self.idle_current_percentage < 100:
self.printer.register_event_handler("idle_timeout:printing",
self.handle_printing)
self.printer.register_event_handler("idle_timeout:ready",
self.handle_ready)
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):
vref = 0.165 if vsense else 0.310
cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
- 1. + .5)
return max(0, min(31, cs))
def _calc_current(self, run_current):
vsense = False
cs = self._calc_current_bits(run_current, vsense)
if cs < 16:
vsense = True
cs = self._calc_current_bits(run_current, vsense)
return vsense, cs
def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround
def handle_ready(self, print_time):
self.set_current(print_time, (float(self.idle_current_percentage)
* self.current / 100))
def set_current(self, print_time, current):
vsense, cs = self._calc_current(current)
val = self.fields.set_field("CS", cs)
self.mcu_tmc.set_register("SGCSCONF", val, print_time)
# Only update VSENSE if we need to
if vsense != self.fields.get_field("VSENSE"):
val = self.fields.set_field("VSENSE", vsense)
self.mcu_tmc.set_register("DRVCONF", val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float(
'CURRENT', params, minval=0.1, maxval=MAX_CURRENT)
self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(),
self.current)
######################################################################
# TMC2660 SPI
######################################################################
@ -171,25 +233,18 @@ class TMC2660:
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_TMC2660_SPI(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 driver registers
set_config_field = self.fields.set_config_field
# DRVCTRL
mres = tmc2130.get_config_microsteps(config)
self.fields.set_field("MRES", mres)
set_config_field = self.fields.set_config_field
set_config_field(config, "DEDGE", 0)
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
@ -214,32 +269,16 @@ class TMC2660:
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
self.current = config.getfloat('run_current', minval=0.1,
maxval=2.4)
self.sense_resistor = config.getfloat('sense_resistor')
(self.driver_cs,
self.driver_vsense) = get_config_current(self.current,
self.sense_resistor)
self.fields.set_field("CS", self.driver_cs)
TMC2660CurrentHelper(config, self.mcu_tmc)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
self.fields.set_field("VSENSE", self.driver_vsense)
self.fields.set_field("RDSEL", 0) # needed for phase calculations
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
# Register ready/printing handlers
self.idle_current_percentage = config.getint(
'idle_current_percent', default=100, minval=0, maxval=100)
if self.idle_current_percentage < 100:
self.printer.register_event_handler("idle_timeout:printing",
self.handle_printing)
self.printer.register_event_handler("idle_timeout:ready",
self.handle_ready)
def query_registers(self, print_time=0.):
return [(reg_name, self.get_register(reg_name))
for reg_name in ReadRegisters]
@ -252,32 +291,5 @@ class TMC2660:
mscnt = self.fields.get_field("MSTEP", reg)
return mscnt >> self.fields.get_field("MRES")
def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround
def handle_ready(self, print_time):
self.set_current(print_time, (float(self.idle_current_percentage)
* self.current / 100))
def set_current(self, print_time, current):
(self.driver_cs,
self.driver_vsense) = get_config_current(current, self.sense_resistor)
self.fields.set_field("CS", self.driver_cs)
self.set_register("SGCSCONF", self.regs["SGCSCONF"], print_time)
# Only update VSENSE if we need to
if self.driver_vsense != self.fields.get_field("VSENSE"):
self.fields.set_field("VSENSE", self.driver_vsense)
self.set_register("DRVCONF", self.regs["DRVCONF"], print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float(
'CURRENT', params, minval=0.1, maxval=2.4)
self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(),
self.current)
def load_config_prefix(config):
return TMC2660(config)