tmc2240: initial implementation
Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Alex Voinea
Kevin O'Connor
parent
e6ef48cdf7
commit
6b75f54e50
|
|
@ -3307,6 +3307,125 @@ run_current:
|
|||
# HDEC) is interpreted as the MSB of HSTRT in this case).
|
||||
```
|
||||
|
||||
### [tmc2240]
|
||||
|
||||
Configure a TMC2240 stepper motor driver via SPI bus. To use this
|
||||
feature, define a config section with a "tmc2240" prefix followed by
|
||||
the name of the corresponding stepper config section (for example,
|
||||
"[tmc2240 stepper_x]").
|
||||
|
||||
```
|
||||
[tmc2240 stepper_x]
|
||||
cs_pin:
|
||||
# The pin corresponding to the TMC2240 chip select line. This pin
|
||||
# will be set to low at the start of SPI messages and raised to high
|
||||
# after the message completes. This parameter must be provided.
|
||||
#spi_speed:
|
||||
#spi_bus:
|
||||
#spi_software_sclk_pin:
|
||||
#spi_software_mosi_pin:
|
||||
#spi_software_miso_pin:
|
||||
# See the "common SPI settings" section for a description of the
|
||||
# above parameters.
|
||||
#chain_position:
|
||||
#chain_length:
|
||||
# These parameters configure an SPI daisy chain. The two parameters
|
||||
# define the stepper position in the chain and the total chain length.
|
||||
# Position 1 corresponds to the stepper that connects to the MOSI signal.
|
||||
# The default is to not use an SPI daisy chain.
|
||||
#interpolate: True
|
||||
# If true, enable step interpolation (the driver will internally
|
||||
# step at a rate of 256 micro-steps). The default is True.
|
||||
run_current:
|
||||
# The amount of current (in amps RMS) to configure the driver to use
|
||||
# during stepper movement. This parameter must be provided.
|
||||
#hold_current:
|
||||
# The amount of current (in amps RMS) to configure the driver to use
|
||||
# when the stepper is not moving. Setting a hold_current is not
|
||||
# recommended (see TMC_Drivers.md for details). The default is to
|
||||
# not reduce the current.
|
||||
#rref: 12000
|
||||
# The resistance (in ohms) of the resistor between IREF and GND. The
|
||||
# default is 12000.
|
||||
#stealthchop_threshold: 0
|
||||
# The velocity (in mm/s) to set the "stealthChop" threshold to. When
|
||||
# set, "stealthChop" mode will be enabled if the stepper motor
|
||||
# velocity is below this value. The default is 0, which disables
|
||||
# "stealthChop" mode.
|
||||
#driver_MSLUT0: 2863314260
|
||||
#driver_MSLUT1: 1251300522
|
||||
#driver_MSLUT2: 608774441
|
||||
#driver_MSLUT3: 269500962
|
||||
#driver_MSLUT4: 4227858431
|
||||
#driver_MSLUT5: 3048961917
|
||||
#driver_MSLUT6: 1227445590
|
||||
#driver_MSLUT7: 4211234
|
||||
#driver_W0: 2
|
||||
#driver_W1: 1
|
||||
#driver_W2: 1
|
||||
#driver_W3: 1
|
||||
#driver_X1: 128
|
||||
#driver_X2: 255
|
||||
#driver_X3: 255
|
||||
#driver_START_SIN: 0
|
||||
#driver_START_SIN90: 247
|
||||
#driver_OFFSET_SIN90: 0
|
||||
# These fields control the Microstep Table registers directly. The optimal
|
||||
# wave table is specific to each motor and might vary with current. An
|
||||
# optimal configuration will have minimal print artifacts caused by
|
||||
# non-linear stepper movement. The values specified above are the default
|
||||
# values used by the driver. The value must be specified as a decimal integer
|
||||
# (hex form is not supported). In order to compute the wave table fields,
|
||||
# see the tmc2130 "Calculation Sheet" from the Trinamic website.
|
||||
# Additionally, this driver also has the OFFSET_SIN90 field which can be used
|
||||
# to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table`
|
||||
# section in the datasheet for information about this field and how to tune
|
||||
# it.
|
||||
#driver_IHOLDDELAY: 6
|
||||
#driver_IRUNDELAY: 4
|
||||
#driver_TPOWERDOWN: 10
|
||||
#driver_TBL: 2
|
||||
#driver_TOFF: 3
|
||||
#driver_HEND: 2
|
||||
#driver_HSTRT: 5
|
||||
#driver_FD3: 0
|
||||
#driver_TPFD: 4
|
||||
#driver_CHM: 0
|
||||
#driver_VHIGHFS: 0
|
||||
#driver_VHIGHCHM: 0
|
||||
#driver_DISS2G: 0
|
||||
#driver_DISS2VS: 0
|
||||
#driver_PWM_AUTOSCALE: True
|
||||
#driver_PWM_AUTOGRAD: True
|
||||
#driver_PWM_FREQ: 0
|
||||
#driver_FREEWHEEL: 0
|
||||
#driver_PWM_GRAD: 0
|
||||
#driver_PWM_OFS: 29
|
||||
#driver_PWM_REG: 4
|
||||
#driver_PWM_LIM: 12
|
||||
#driver_SGT: 0
|
||||
#driver_SEMIN: 0
|
||||
#driver_SEUP: 0
|
||||
#driver_SEMAX: 0
|
||||
#driver_SEDN: 0
|
||||
#driver_SEIMIN: 0
|
||||
#driver_SFILT: 0
|
||||
# Set the given register during the configuration of the TMC2240
|
||||
# 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.
|
||||
#diag0_pin:
|
||||
#diag1_pin:
|
||||
# The micro-controller pin attached to one of the DIAG lines of the
|
||||
# TMC2240 chip. Only a single diag pin should be specified. The pin
|
||||
# is "active low" and is thus normally prefaced with "^!". Setting
|
||||
# this creates a "tmc2240_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.
|
||||
```
|
||||
|
||||
### [tmc5160]
|
||||
|
||||
Configure a TMC5160 stepper motor driver via SPI bus. To use this
|
||||
|
|
|
|||
|
|
@ -9,7 +9,8 @@ from . import bus, motion_report
|
|||
MIN_MSG_TIME = 0.100
|
||||
TCODE_ERROR = 0xff
|
||||
|
||||
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
|
||||
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660",
|
||||
"tmc5160"]
|
||||
|
||||
CALIBRATION_BITS = 6 # 64 entries
|
||||
ANGLE_BITS = 16 # angles range from 0..65535
|
||||
|
|
|
|||
|
|
@ -6,7 +6,8 @@
|
|||
import math, logging
|
||||
import stepper
|
||||
|
||||
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
|
||||
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660",
|
||||
"tmc5160"]
|
||||
|
||||
# Calculate the trigger phase of a stepper motor
|
||||
class PhaseCalc:
|
||||
|
|
|
|||
|
|
@ -0,0 +1,397 @@
|
|||
# TMC2240 configuration
|
||||
#
|
||||
# Copyright (C) 2018-2023 Kevin O'Connor <kevin@koconnor.net>
|
||||
# Copyright (C) 2023 Alex Voinea <voinea.dragos.alexandru@gmail.com>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, logging
|
||||
from . import bus, tmc, tmc2130
|
||||
|
||||
TMC_FREQUENCY=12500000.
|
||||
|
||||
Registers = {
|
||||
"GCONF": 0x00,
|
||||
"GSTAT": 0x01,
|
||||
"IFCNT": 0x02,
|
||||
"NODECONF": 0x03,
|
||||
"IOIN": 0x04,
|
||||
"DRV_CONF": 0x0A,
|
||||
"GLOBALSCALER": 0x0B,
|
||||
"IHOLD_IRUN": 0x10,
|
||||
"TPOWERDOWN": 0x11,
|
||||
"TSTEP": 0x12,
|
||||
"TPWMTHRS": 0x13,
|
||||
"TCOOLTHRS": 0x14,
|
||||
"THIGH": 0x15,
|
||||
"DIRECT_MODE": 0x2D,
|
||||
"ENCMODE": 0x38,
|
||||
"X_ENC": 0x39,
|
||||
"ENC_CONST": 0x3A,
|
||||
"ENC_STATUS": 0x3B,
|
||||
"ENC_LATCH": 0x3C,
|
||||
"ADC_VSUPPLY_AIN": 0x50,
|
||||
"ADC_TEMP": 0x51,
|
||||
"OTW_OV_VTH": 0x52,
|
||||
"MSLUT0": 0x60,
|
||||
"MSLUT1": 0x61,
|
||||
"MSLUT2": 0x62,
|
||||
"MSLUT3": 0x63,
|
||||
"MSLUT4": 0x64,
|
||||
"MSLUT5": 0x65,
|
||||
"MSLUT6": 0x66,
|
||||
"MSLUT7": 0x67,
|
||||
"MSLUTSEL": 0x68,
|
||||
"MSLUTSTART": 0x69,
|
||||
"MSCNT": 0x6A,
|
||||
"MSCURACT": 0x6B,
|
||||
"CHOPCONF": 0x6C,
|
||||
"COOLCONF": 0x6D,
|
||||
"DRV_STATUS": 0x6F,
|
||||
"PWMCONF": 0x70,
|
||||
"PWM_SCALE": 0x71,
|
||||
"PWM_AUTO": 0x72,
|
||||
"SG4_THRS": 0x74,
|
||||
"SG4_RESULT": 0x75,
|
||||
"SG4_IND": 0x76,
|
||||
}
|
||||
|
||||
ReadRegisters = [
|
||||
"GCONF", "GSTAT", "IOIN", "DRV_CONF", "GLOBALSCALER", "IHOLD_IRUN",
|
||||
"TPOWERDOWN", "TSTEP", "TPWMTHRS", "TCOOLTHRS", "THIGH", "ADC_VSUPPLY_AIN",
|
||||
"ADC_TEMP", "MSCNT", "MSCURACT", "CHOPCONF", "COOLCONF", "DRV_STATUS",
|
||||
"PWMCONF", "PWM_SCALE", "PWM_AUTO", "SG4_THRS", "SG4_RESULT", "SG4_IND"
|
||||
]
|
||||
|
||||
Fields = {}
|
||||
Fields["COOLCONF"] = {
|
||||
"semin": 0x0F << 0,
|
||||
"seup": 0x03 << 5,
|
||||
"semax": 0x0F << 8,
|
||||
"sedn": 0x03 << 13,
|
||||
"seimin": 0x01 << 15,
|
||||
"sgt": 0x7F << 16,
|
||||
"sfilt": 0x01 << 24
|
||||
}
|
||||
Fields["CHOPCONF"] = {
|
||||
"toff": 0x0F << 0,
|
||||
"hstrt": 0x07 << 4,
|
||||
"hend": 0x0F << 7,
|
||||
"fd3": 0x01 << 11,
|
||||
"disfdcc": 0x01 << 12,
|
||||
"chm": 0x01 << 14,
|
||||
"tbl": 0x03 << 15,
|
||||
"vhighfs": 0x01 << 18,
|
||||
"vhighchm": 0x01 << 19,
|
||||
"tpfd": 0x0F << 20, # midrange resonances
|
||||
"mres": 0x0F << 24,
|
||||
"intpol": 0x01 << 28,
|
||||
"dedge": 0x01 << 29,
|
||||
"diss2g": 0x01 << 30,
|
||||
"diss2vs": 0x01 << 31
|
||||
}
|
||||
Fields["DRV_STATUS"] = {
|
||||
"sg_result": 0x3FF << 0,
|
||||
"s2vsa": 0x01 << 12,
|
||||
"s2vsb": 0x01 << 13,
|
||||
"stealth": 0x01 << 14,
|
||||
"fsactive": 0x01 << 15,
|
||||
"csactual": 0x1F << 16,
|
||||
"stallguard": 0x01 << 24,
|
||||
"ot": 0x01 << 25,
|
||||
"otpw": 0x01 << 26,
|
||||
"s2ga": 0x01 << 27,
|
||||
"s2gb": 0x01 << 28,
|
||||
"ola": 0x01 << 29,
|
||||
"olb": 0x01 << 30,
|
||||
"stst": 0x01 << 31
|
||||
}
|
||||
Fields["GCONF"] = {
|
||||
"faststandstill": 0x01 << 1,
|
||||
"en_pwm_mode": 0x01 << 2,
|
||||
"multistep_filt": 0x01 << 3,
|
||||
"shaft": 0x01 << 4,
|
||||
"diag0_error": 0x01 << 5,
|
||||
"diag0_otpw": 0x01 << 6,
|
||||
"diag0_stall": 0x01 << 7,
|
||||
"diag1_stall": 0x01 << 8,
|
||||
"diag1_index": 0x01 << 9,
|
||||
"diag1_onstate": 0x01 << 10,
|
||||
"diag0_pushpull": 0x01 << 12,
|
||||
"diag1_pushpull": 0x01 << 13,
|
||||
"small_hysteresis": 0x01 << 14,
|
||||
"stop_enable": 0x01 << 15,
|
||||
"direct_mode": 0x01 << 16
|
||||
}
|
||||
Fields["GSTAT"] = {
|
||||
"reset": 0x01 << 0,
|
||||
"drv_err": 0x01 << 1,
|
||||
"uv_cp": 0x01 << 2,
|
||||
"register_reset": 0x01 << 3,
|
||||
"vm_uvlo": 0x01 << 4
|
||||
}
|
||||
Fields["GLOBALSCALER"] = {
|
||||
"globalscaler": 0xFF << 0
|
||||
}
|
||||
Fields["IHOLD_IRUN"] = {
|
||||
"ihold": 0x1F << 0,
|
||||
"irun": 0x1F << 8,
|
||||
"iholddelay": 0x0F << 16,
|
||||
"irundelay": 0x0F << 24
|
||||
}
|
||||
Fields["IOIN"] = {
|
||||
"step": 0x01 << 0,
|
||||
"dir": 0x01 << 1,
|
||||
"encb": 0x01 << 2,
|
||||
"enca": 0x01 << 3,
|
||||
"drv_enn": 0x01 << 4,
|
||||
"encn": 0x01 << 5,
|
||||
"uart_en": 0x01 << 6,
|
||||
"comp_a": 0x01 << 8,
|
||||
"comp_b": 0x01 << 9,
|
||||
"comp_a1_a2": 0x01 << 10,
|
||||
"comp_b1_b2": 0x01 << 11,
|
||||
"output": 0x01 << 12,
|
||||
"ext_res_det": 0x01 << 13,
|
||||
"ext_clk": 0x01 << 14,
|
||||
"adc_err": 0x01 << 15,
|
||||
"silicon_rv": 0x07 << 16,
|
||||
"version": 0xFF << 24
|
||||
}
|
||||
Fields["MSLUT0"] = { "mslut0": 0xffffffff }
|
||||
Fields["MSLUT1"] = { "mslut1": 0xffffffff }
|
||||
Fields["MSLUT2"] = { "mslut2": 0xffffffff }
|
||||
Fields["MSLUT3"] = { "mslut3": 0xffffffff }
|
||||
Fields["MSLUT4"] = { "mslut4": 0xffffffff }
|
||||
Fields["MSLUT5"] = { "mslut5": 0xffffffff }
|
||||
Fields["MSLUT6"] = { "mslut6": 0xffffffff }
|
||||
Fields["MSLUT7"] = { "mslut7": 0xffffffff }
|
||||
Fields["MSLUTSEL"] = {
|
||||
"x3": 0xFF << 24,
|
||||
"x2": 0xFF << 16,
|
||||
"x1": 0xFF << 8,
|
||||
"w3": 0x03 << 6,
|
||||
"w2": 0x03 << 4,
|
||||
"w1": 0x03 << 2,
|
||||
"w0": 0x03 << 0,
|
||||
}
|
||||
Fields["MSLUTSTART"] = {
|
||||
"start_sin": 0xFF << 0,
|
||||
"start_sin90": 0xFF << 16,
|
||||
"offset_sin90": 0xFF << 24,
|
||||
}
|
||||
Fields["MSCNT"] = {
|
||||
"mscnt": 0x3ff << 0
|
||||
}
|
||||
Fields["MSCURACT"] = {
|
||||
"cur_a": 0x1ff << 0,
|
||||
"cur_b": 0x1ff << 16
|
||||
}
|
||||
Fields["PWM_AUTO"] = {
|
||||
"pwm_ofs_auto": 0xff << 0,
|
||||
"pwm_grad_auto": 0xff << 16
|
||||
}
|
||||
Fields["PWMCONF"] = {
|
||||
"pwm_ofs": 0xFF << 0,
|
||||
"pwm_grad": 0xFF << 8,
|
||||
"pwm_freq": 0x03 << 16,
|
||||
"pwm_autoscale": 0x01 << 18,
|
||||
"pwm_autograd": 0x01 << 19,
|
||||
"freewheel": 0x03 << 20,
|
||||
"pwm_meas_sd_enable": 0x01 << 22,
|
||||
"pwm_dis_reg_stst": 0x01 << 23,
|
||||
"pwm_reg": 0x0F << 24,
|
||||
"pwm_lim": 0x0F << 28
|
||||
}
|
||||
Fields["PWM_SCALE"] = {
|
||||
"pwm_scale_sum": 0x3ff << 0,
|
||||
"pwm_scale_auto": 0x1ff << 16
|
||||
}
|
||||
Fields["TPOWERDOWN"] = {
|
||||
"tpowerdown": 0xff << 0
|
||||
}
|
||||
Fields["TPWMTHRS"] = {
|
||||
"tpwmthrs": 0xfffff << 0
|
||||
}
|
||||
Fields["TCOOLTHRS"] = {
|
||||
"tcoolthrs": 0xfffff << 0
|
||||
}
|
||||
Fields["TSTEP"] = {
|
||||
"tstep": 0xfffff << 0
|
||||
}
|
||||
Fields["THIGH"] = {
|
||||
"thigh": 0xfffff << 0
|
||||
}
|
||||
Fields["DRV_CONF"] = {
|
||||
"current_range": 0x03 << 0,
|
||||
"slope_control": 0x03 << 4
|
||||
}
|
||||
Fields["ADC_VSUPPLY_AIN"] = {
|
||||
"adc_vsupply": 0x1fff << 0,
|
||||
"adc_ain": 0x1fff << 16
|
||||
}
|
||||
Fields["ADC_TEMP"] = {
|
||||
"adc_temp": 0x1fff << 0
|
||||
}
|
||||
Fields["OTW_OV_VTH"] = {
|
||||
"overvoltage_vth": 0x1fff << 0,
|
||||
"overtempprewarning_vth": 0x1fff << 16
|
||||
}
|
||||
Fields["SG4_THRS"] = {
|
||||
"sg4_thrs": 0xFF << 0,
|
||||
"sg4_filt_en": 0x01 << 8,
|
||||
"sg4_angle_offset": 0x01 << 9
|
||||
}
|
||||
Fields["SG4_RESULT"] = {
|
||||
"sg4_result": 0x3FF << 0
|
||||
}
|
||||
Fields["SG4_IND"] = {
|
||||
"sg4_ind_0": 0xFF << 0,
|
||||
"sg4_ind_1": 0xFF << 8,
|
||||
"sg4_ind_2": 0xFF << 16,
|
||||
"sg4_ind_3": 0xFF << 24
|
||||
}
|
||||
|
||||
|
||||
SignedFields = ["cur_a", "cur_b", "sgt", "pwm_scale_auto", "offset_sin90"]
|
||||
|
||||
FieldFormatters = dict(tmc2130.FieldFormatters)
|
||||
FieldFormatters.update({
|
||||
"s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
|
||||
"s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
|
||||
"adc_temp": (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
|
||||
})
|
||||
|
||||
|
||||
######################################################################
|
||||
# TMC stepper current config helper
|
||||
######################################################################
|
||||
|
||||
class TMC2240CurrentHelper:
|
||||
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.Rref = config.getfloat('rref', 12000.,
|
||||
minval=12000., maxval=60000.)
|
||||
max_cur = self._get_ifs_rms(3)
|
||||
run_current = config.getfloat('run_current', above=0., maxval=max_cur)
|
||||
hold_current = config.getfloat('hold_current', max_cur,
|
||||
above=0., maxval=max_cur)
|
||||
self.req_hold_current = hold_current
|
||||
current_range = self._calc_current_range(run_current)
|
||||
self.fields.set_field("current_range", current_range)
|
||||
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
|
||||
self.fields.set_field("globalscaler", gscaler)
|
||||
self.fields.set_field("ihold", ihold)
|
||||
self.fields.set_field("irun", irun)
|
||||
def _get_ifs_rms(self, current_range=None):
|
||||
if current_range is None:
|
||||
current_range = self.fields.get_field("current_range")
|
||||
KIFS = [11750., 24000., 36000., 36000.]
|
||||
return (KIFS[current_range] / self.Rref) / math.sqrt(2.)
|
||||
def _calc_current_range(self, current):
|
||||
for current_range in range(4):
|
||||
if current <= self._get_ifs_rms(current_range):
|
||||
break
|
||||
return current_range
|
||||
def _calc_globalscaler(self, current):
|
||||
ifs_rms = self._get_ifs_rms()
|
||||
globalscaler = int(((current * 256.) / ifs_rms) + .5)
|
||||
globalscaler = max(32, globalscaler)
|
||||
if globalscaler >= 256:
|
||||
globalscaler = 0
|
||||
return globalscaler
|
||||
def _calc_current_bits(self, current, globalscaler):
|
||||
ifs_rms = self._get_ifs_rms()
|
||||
if not globalscaler:
|
||||
globalscaler = 256
|
||||
cs = int((current * 256. * 32.) / (globalscaler * ifs_rms) - 1. + .5)
|
||||
return max(0, min(31, cs))
|
||||
def _calc_current(self, run_current, hold_current):
|
||||
gscaler = self._calc_globalscaler(run_current)
|
||||
irun = self._calc_current_bits(run_current, gscaler)
|
||||
ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
|
||||
return gscaler, irun, ihold
|
||||
def _calc_current_from_field(self, field_name):
|
||||
ifs_rms = self._get_ifs_rms()
|
||||
globalscaler = self.fields.get_field("globalscaler")
|
||||
if not globalscaler:
|
||||
globalscaler = 256
|
||||
bits = self.fields.get_field(field_name)
|
||||
return globalscaler * (bits + 1) * ifs_rms / (256. * 32.)
|
||||
def get_current(self):
|
||||
ifs_rms = self._get_ifs_rms()
|
||||
run_current = self._calc_current_from_field("irun")
|
||||
hold_current = self._calc_current_from_field("ihold")
|
||||
return (run_current, hold_current, self.req_hold_current, ifs_rms)
|
||||
def set_current(self, run_current, hold_current, print_time):
|
||||
self.req_hold_current = hold_current
|
||||
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
|
||||
val = self.fields.set_field("globalscaler", gscaler)
|
||||
self.mcu_tmc.set_register("GLOBALSCALER", 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)
|
||||
|
||||
|
||||
######################################################################
|
||||
# TMC2240 printer object
|
||||
######################################################################
|
||||
|
||||
class TMC2240:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
|
||||
# Allow virtual pins to be created
|
||||
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
|
||||
# Register commands
|
||||
current_helper = TMC2240CurrentHelper(config, self.mcu_tmc)
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
|
||||
cmdhelper.setup_register_dump(ReadRegisters)
|
||||
self.get_phase_offset = cmdhelper.get_phase_offset
|
||||
self.get_status = cmdhelper.get_status
|
||||
# Setup basic register values
|
||||
tmc.TMCWaveTableHelper(config, self.mcu_tmc)
|
||||
self.fields.set_config_field(config, "offset_sin90", 0)
|
||||
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
# CHOPCONF
|
||||
set_config_field = self.fields.set_config_field
|
||||
set_config_field(config, "toff", 3)
|
||||
set_config_field(config, "hstrt", 5)
|
||||
set_config_field(config, "hend", 2)
|
||||
set_config_field(config, "fd3", 0)
|
||||
set_config_field(config, "disfdcc", 0)
|
||||
set_config_field(config, "chm", 0)
|
||||
set_config_field(config, "tbl", 2)
|
||||
set_config_field(config, "vhighfs", 0)
|
||||
set_config_field(config, "vhighchm", 0)
|
||||
set_config_field(config, "tpfd", 4)
|
||||
set_config_field(config, "diss2g", 0)
|
||||
set_config_field(config, "diss2vs", 0)
|
||||
# COOLCONF
|
||||
set_config_field(config, "semin", 0)
|
||||
set_config_field(config, "seup", 0)
|
||||
set_config_field(config, "semax", 0)
|
||||
set_config_field(config, "sedn", 0)
|
||||
set_config_field(config, "seimin", 0)
|
||||
set_config_field(config, "sgt", 0)
|
||||
set_config_field(config, "sfilt", 0)
|
||||
# IHOLDIRUN
|
||||
set_config_field(config, "iholddelay", 6)
|
||||
set_config_field(config, "irundelay", 4)
|
||||
# PWMCONF
|
||||
set_config_field(config, "pwm_ofs", 29)
|
||||
set_config_field(config, "pwm_grad", 0)
|
||||
set_config_field(config, "pwm_freq", 0)
|
||||
set_config_field(config, "pwm_autoscale", True)
|
||||
set_config_field(config, "pwm_autograd", True)
|
||||
set_config_field(config, "freewheel", 0)
|
||||
set_config_field(config, "pwm_reg", 4)
|
||||
set_config_field(config, "pwm_lim", 12)
|
||||
# TPOWERDOWN
|
||||
set_config_field(config, "tpowerdown", 10)
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC2240(config)
|
||||
|
|
@ -84,6 +84,17 @@ cs_pin: PK1
|
|||
run_current: .5
|
||||
sense_resistor: 0.220
|
||||
|
||||
[stepper_z2]
|
||||
step_pin: PH1
|
||||
dir_pin: PA2
|
||||
enable_pin: !PA3
|
||||
microsteps: 16
|
||||
rotation_distance: 8
|
||||
|
||||
[tmc2240 stepper_z2]
|
||||
cs_pin: PK3
|
||||
run_current: .5
|
||||
|
||||
[mcu]
|
||||
serial: /dev/ttyACM0
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@ DUMP_TMC STEPPER=stepper_y
|
|||
DUMP_TMC STEPPER=stepper_y1
|
||||
DUMP_TMC STEPPER=stepper_z
|
||||
DUMP_TMC STEPPER=stepper_z1
|
||||
DUMP_TMC STEPPER=stepper_z2
|
||||
|
||||
; Test INIT_TMC commands
|
||||
INIT_TMC STEPPER=stepper_x
|
||||
|
|
@ -27,6 +28,7 @@ INIT_TMC STEPPER=stepper_y
|
|||
INIT_TMC STEPPER=stepper_y1
|
||||
INIT_TMC STEPPER=stepper_z
|
||||
INIT_TMC STEPPER=stepper_z1
|
||||
INIT_TMC STEPPER=stepper_z2
|
||||
|
||||
; Test SET_TMC_CURRENT commands
|
||||
SET_TMC_CURRENT STEPPER=stepper_x CURRENT=.7
|
||||
|
|
@ -35,6 +37,7 @@ SET_TMC_CURRENT STEPPER=stepper_y CURRENT=.7
|
|||
SET_TMC_CURRENT STEPPER=stepper_y1 CURRENT=.7
|
||||
SET_TMC_CURRENT STEPPER=stepper_z CURRENT=.7
|
||||
SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7
|
||||
SET_TMC_CURRENT STEPPER=stepper_z2 CURRENT=.6
|
||||
|
||||
; Test SET_TMC_FIELD commands
|
||||
SET_TMC_FIELD STEPPER=stepper_x FIELD=intpol VALUE=0
|
||||
|
|
@ -43,3 +46,4 @@ SET_TMC_FIELD STEPPER=stepper_y FIELD=intpol VALUE=0
|
|||
SET_TMC_FIELD STEPPER=stepper_y1 FIELD=intpol VALUE=0
|
||||
SET_TMC_FIELD STEPPER=stepper_z FIELD=intpol VALUE=0
|
||||
SET_TMC_FIELD STEPPER=stepper_z1 FIELD=intpol VALUE=0
|
||||
SET_TMC_FIELD STEPPER=stepper_z2 FIELD=intpol VALUE=0
|
||||
|
|
|
|||
Loading…
Reference in New Issue