tmc2130: Add initial support for TMC2130 stepper motor drivers
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -402,6 +402,44 @@
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# default is to not scale the 'channel_x' parameters.
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# Configure a TMC2130 stepper motor driver (one may define any number
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# of sections with a "tmc2130" prefix).
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#[tmc2130 my_name]
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#cs_pin:
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# The pin corresponding to the TMC2130 chip select line. This pin
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# will be set to low at the start of SPI messages and raised to high
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# after the message completes. This parameter must be provided.
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#microsteps:
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# The number of microsteps to configure the driver to use. Valid
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# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
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# be provided.
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#interpolate: True
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# If true, enable TMC2130 step interpolation (the driver will
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# interally step at a rate of 256 micro-steps). The default is True.
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#run_current:
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# The amount of current (in amps) to configure the driver to use
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# during stepper movement. This parameter must be provided.
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#hold_current:
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# The amount of current (in amps) to configure the driver to use
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# when the stepper is not moving. The default is to use the same
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# value as run_current.
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#sense_resistor: 0.110
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# The resistance (in ohms) of the motor sense resistor. The default
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# is 0.110 ohms.
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#stealthchop: False
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# Enable "stealthChop" mode. The default is False.
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#driver_IHOLDDELAY: 8
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#driver_TPOWERDOWN: 0
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#driver_BLANK_TIME_SELECT: 1
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#driver_TOFF: 1
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#driver_HEND: 7
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#driver_HSTRT: 0
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# Set the given register during the configuration of the TMC2130
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# chip. This may be used to set custom motor parameters. The
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# defaults for each parameter are next to the parameter name in the
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# above list.
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# Homing override. One may use this mechanism to run a series of
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# g-code commands in place of a G28 found in the normal g-code input.
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# This may be useful on printers that require a specific procedure to
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@ -0,0 +1,70 @@
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# TMC2130 configuration
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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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
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class tmc2130:
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def __init__(self, config):
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printer = config.get_printer()
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# pin setup
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ppins = printer.lookup_object("pins")
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cs_pin = config.get('cs_pin')
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cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
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if cs_pin_params['invert']:
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raise pins.error("tmc2130 can not invert pin")
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self.mcu = cs_pin_params['chip']
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pin = cs_pin_params['pin']
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self.oid = self.mcu.create_oid()
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self.mcu.add_config_cmd(
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"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
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self.oid, 0, cs_pin_params['pin'], 3, 3600000))
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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microsteps = config.getchoice('microsteps', steps)
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interpolate = config.getboolean('interpolate', True)
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stealthchop = config.getboolean('stealthchop', False)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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minval=0, maxval=3)
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toff = config.getint('driver_TOFF', 1, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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# calculate current
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vsense = False
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# configure GCONF
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self.add_config_cmd(0x00, stealthchop << 2)
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# configure CHOPCONF
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self.add_config_cmd(
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (microsteps << 24) | (interpolate << 28))
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# configure IHOLD_IRUN
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self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
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# configure TPOWERDOWN
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self.add_config_cmd(0x11, tpowerdown)
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def add_config_cmd(self, addr, val):
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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if vsense_on:
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vsense = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
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- 1. + .5)
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return max(0, min(31, cs))
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def load_config_prefix(config):
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return tmc2130(config)
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