tmc2208: Decode register fields in DUMP_TMC (#1156)
Report values of TMC2208 register fields in DUMP_TMC command to help in tuning and diagnostics. This also adds functions to refer to register fields by name for TMC drivers and register mappings for TMC2208. Signed-off-by: Kevin O'Connor <kevin@koconnor.net> Signed-off-by: Dmitry Frolov <dmitry.frolov@gmail.com>
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lorf
KevinOConnor
parent
3b6ddb08a1
commit
54683c9535
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@ -24,6 +24,40 @@ ReadRegisters = [
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"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
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]
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Fields = {}
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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# Provide a string description of a register
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def pretty_format(all_fields, reg_name, value):
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fields = [ " %s=%d" % (field_name, (value & mask) >> ffs(mask))
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for field_name, mask in sorted(all_fields.get(
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reg_name, {}).items(), key = lambda f: f[1])
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if value & mask ]
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return "%-15s %08x%s" % (reg_name + ":", value, "".join(fields))
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# Returns value of the register field
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def get_field(all_fields, reg_name, field_name, reg_value):
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mask = all_fields.get(reg_name, {})[field_name]
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return (reg_value & mask) >> ffs(mask)
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# Returns register value with field bits filled with supplied field value
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def set_field(all_fields, reg_name, field_name, reg_value, field_value):
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mask = all_fields.get(reg_name, {})[field_name]
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return (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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######################################################################
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# TMC2130 printer object
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######################################################################
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class TMC2130:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -126,7 +160,7 @@ class TMC2130:
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logging.info("DUMP_TMC %s", self.name)
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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msg = "%-15s %08x" % (reg_name + ":", val)
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msg = pretty_format(Fields, reg_name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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@ -4,6 +4,7 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, collections
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import tmc2130
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TMC_FREQUENCY=12000000.
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GCONF_PDN_DISABLE = 1<<6
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@ -24,6 +25,151 @@ ReadRegisters = [
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"PWMCONF", "PWM_SCALE", "PWM_AUTO"
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]
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 0x01,
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"internal_Rsense": 0x01 << 1,
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"en_spreadCycle": 0x01 << 2,
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"shaft": 0x01 << 3,
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"index_otpw": 0x01 << 4,
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"index_step": 0x01 << 5,
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"pdn_disable": 0x01 << 6,
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"mstep_reg_select": 0x01 << 7,
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"multistep_filt": 0x01 << 8,
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"test_mode": 0x01 << 9
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}
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Fields["GSTAT"] = {
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"reset": 0x01,
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"drv_err": 0x01 << 1,
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"uv_cp": 0x01 << 2
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}
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Fields["IFCNT"] = {
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"IFCNT": 0xff
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}
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Fields["SLAVECONF"] = {
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"SENDDELAY": 0x0f << 8
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}
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Fields["OTP_PROG"] = {
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"OTPBIT": 0x07,
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"OTPBYTE": 0x03 << 4,
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"OTPMAGIC": 0xff << 8
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}
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Fields["OTP_READ"] = {
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"OTP_FCLKTRIM": 0x1f,
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"otp_OTTRIM": 0x01 << 5,
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"otp_internalRsense": 0x01 << 6,
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"otp_TBL": 0x01 << 7,
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"OTP_PWM_GRAD": 0x0f << 8,
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"otp_pwm_autograd": 0x01 << 12,
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"OTP_TPWMTHRS": 0x07 << 13,
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"otp_PWM_OFS": 0x01 << 16,
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"otp_PWM_REG": 0x01 << 17,
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"otp_PWM_FREQ": 0x01 << 18,
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"OTP_IHOLDDELAY": 0x03 << 19,
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"OTP_IHOLD": 0x03 << 21,
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"otp_en_spreadCycle": 0x01 << 23
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}
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# IOIN mapping depends on the driver type (SEL_A field)
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# TMC222x (SEL_A == 0)
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Fields["IOIN@TMC222x"] = {
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"PDN_UART": 0x01 << 1,
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"SPREAD": 0x01 << 2,
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"DIR": 0x01 << 3,
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"ENN": 0x01 << 4,
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"STEP": 0x01 << 5,
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"MS1": 0x01 << 6,
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"MS2": 0x01 << 7,
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"SEL_A": 0x01 << 8,
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"VERSION": 0xff << 24
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}
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# TMC220x (SEL_A == 1)
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Fields["IOIN@TMC220x"] = {
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"ENN": 0x01,
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"MS1": 0x01 << 2,
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"MS2": 0x01 << 3,
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"DIAG": 0x01 << 4,
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"PDN_UART": 0x01 << 6,
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"STEP": 0x01 << 7,
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"SEL_A": 0x01 << 8,
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"DIR": 0x01 << 9,
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"VERSION": 0xff << 24,
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}
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Fields["FACTORY_CONF"] = {
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"FCLKTRIM": 0x1f,
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"OTTRIM": 0x03 << 8
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f,
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"IRUN": 0x1f << 8,
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"IHOLDDELAY": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = {
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"TPOWERDOWN": 0xff
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}
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Fields["TSTEP"] = {
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"TSTEP": 0xfffff
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}
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Fields["TPWMTHRS"] = {
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"TPWMTHRS": 0xfffff
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}
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Fields["VACTUAL"] = {
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"VACTUAL": 0xffffff
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}
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Fields["MSCNT"] = {
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"MSCNT": 0x3ff
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}
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Fields["MSCURACT"] = {
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"CUR_A": 0x1ff,
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"CUR_B": 0x1ff << 16
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}
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Fields["CHOPCONF"] = {
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"toff": 0x0f,
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"hstrt": 0x07 << 4,
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"hend": 0x0f << 7,
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"TBL": 0x03 << 15,
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"vsense": 0x01 << 17,
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"MRES": 0x0f << 24,
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"intpol": 0x01 << 28,
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"dedge": 0x01 << 29,
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"diss2g": 0x01 << 30,
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"diss2vs": 0x01 << 31
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}
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Fields["DRV_STATUS"] = {
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"otpw": 0x01,
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"ot": 0x01 << 1,
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"s2ga": 0x01 << 2,
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"s2gb": 0x01 << 3,
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"s2vsa": 0x01 << 4,
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"s2vsb": 0x01 << 5,
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"ola": 0x01 << 6,
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"olb": 0x01 << 7,
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"t120": 0x01 << 8,
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"t143": 0x01 << 9,
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"t150": 0x01 << 10,
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"t157": 0x01 << 11,
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"CS_ACTUAL": 0x1f << 16,
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"stealth": 0x01 << 30,
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"stst": 0x01 << 31
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}
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Fields["PWMCONF"] = {
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"PWM_OFS": 0xff,
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"PWM_GRAD": 0xff << 8,
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"pwm_freq": 0x03 << 16,
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"pwm_autoscale": 0x01 << 18,
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"pwm_autograd": 0x01 << 19,
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"freewheel": 0x03 << 20,
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"PWM_REG": 0xf << 24,
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"PWM_LIM": 0xf << 28
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}
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Fields["PWM_SCALE"] = {
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"PWM_SCALE_SUM": 0xff,
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"PWM_SCALE_AUTO": 0x1ff << 16
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}
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Fields["PWM_AUTO"] = {
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"PWM_OFS_AUTO": 0xff,
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"PWM_GRAD_AUTO": 0xff << 16
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}
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######################################################################
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# TMC2208 communication
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@ -199,6 +345,8 @@ class TMC2208:
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def get_register(self, reg_name):
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reg = Registers[reg_name]
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msg = encode_tmc2208_read(0xf5, 0x00, reg)
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if self.printer.get_start_args().get('debugoutput') is not None:
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return 0
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for retry in range(5):
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params = self.tmcuart_send_cmd.send_with_response(
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[self.oid, msg, 10], 'tmcuart_response', self.oid)
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@ -236,7 +384,12 @@ class TMC2208:
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val = self.get_register(reg_name)
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except self.printer.config_error as e:
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raise gcode.error(str(e))
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msg = "%-15s %08x" % (reg_name + ":", val)
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# IOIN has different mappings depending on the driver type
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# (SEL_A field of IOIN reg)
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if reg_name is "IOIN":
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drv_type = tmc2130.get_field(Fields, "IOIN@TMC222x", "SEL_A", val)
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reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
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msg = tmc2130.pretty_format(Fields, reg_name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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