tmc: Configurable microstep lookup table (#5920)
Make all the microstep lookup table registers configurable via the config file. It also loads the default values. TMC220x and TMC2660 do not support this feature. Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
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Alex Voinea
GitHub
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@ -3073,6 +3073,30 @@ run_current:
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# set, "stealthChop" mode will be enabled if the stepper motor
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# velocity is below this value. The default is 0, which disables
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# "stealthChop" mode.
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#driver_MSLUT0: 2863314260
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#driver_MSLUT1: 1251300522
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#driver_MSLUT2: 608774441
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#driver_MSLUT3: 269500962
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#driver_MSLUT4: 4227858431
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#driver_MSLUT5: 3048961917
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#driver_MSLUT6: 1227445590
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#driver_MSLUT7: 4211234
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#driver_W0: 2
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#driver_W1: 1
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#driver_W2: 1
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#driver_W3: 1
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#driver_X1: 128
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#driver_X2: 255
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#driver_X3: 255
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#driver_START_SIN: 0
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#driver_START_SIN90: 247
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# These fields control the Microstep Table registers directly. The optimal
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# wave table is specific to each motor and might vary with current. An
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# optimal configuration will have minimal print artifacts caused by
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# non-linear stepper movement. The values specified above are the default
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# values used by the driver. The value must be specified as a decimal integer
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# (hex form is not supported). In order to compute the wave table fields,
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# see the tmc2130 "Calculation Sheet" from the Trinamic website.
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#driver_IHOLDDELAY: 8
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#driver_TPOWERDOWN: 0
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#driver_TBL: 1
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@ -3328,6 +3352,30 @@ run_current:
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# set, "stealthChop" mode will be enabled if the stepper motor
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# velocity is below this value. The default is 0, which disables
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# "stealthChop" mode.
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#driver_MSLUT0: 2863314260
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#driver_MSLUT1: 1251300522
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#driver_MSLUT2: 608774441
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#driver_MSLUT3: 269500962
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#driver_MSLUT4: 4227858431
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#driver_MSLUT5: 3048961917
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#driver_MSLUT6: 1227445590
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#driver_MSLUT7: 4211234
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#driver_W0: 2
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#driver_W1: 1
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#driver_W2: 1
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#driver_W3: 1
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#driver_X1: 128
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#driver_X2: 255
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#driver_X3: 255
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#driver_START_SIN: 0
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#driver_START_SIN90: 247
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# These fields control the Microstep Table registers directly. The optimal
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# wave table is specific to each motor and might vary with current. An
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# optimal configuration will have minimal print artifacts caused by
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# non-linear stepper movement. The values specified above are the default
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# values used by the driver. The value must be specified as a decimal integer
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# (hex form is not supported). In order to compute the wave table fields,
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# see the tmc2130 "Calculation Sheet" from the Trinamic website.
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#driver_IHOLDDELAY: 6
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#driver_TPOWERDOWN: 10
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#driver_TBL: 2
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@ -501,6 +501,27 @@ class TMCVirtualPinHelper:
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# Config reading helpers
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######################################################################
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# Helper to initialize the wave table from config or defaults
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def TMCWaveTableHelper(config, mcu_tmc):
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set_config_field = mcu_tmc.get_fields().set_config_field
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set_config_field(config, "mslut0", 0xAAAAB554)
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set_config_field(config, "mslut1", 0x4A9554AA)
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set_config_field(config, "mslut2", 0x24492929)
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set_config_field(config, "mslut3", 0x10104222)
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set_config_field(config, "mslut4", 0xFBFFFFFF)
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set_config_field(config, "mslut5", 0xB5BB777D)
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set_config_field(config, "mslut6", 0x49295556)
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set_config_field(config, "mslut7", 0x00404222)
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set_config_field(config, "w0", 2)
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set_config_field(config, "w1", 1)
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set_config_field(config, "w2", 1)
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set_config_field(config, "w3", 1)
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set_config_field(config, "x1", 128)
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set_config_field(config, "x2", 255)
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set_config_field(config, "x3", 255)
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set_config_field(config, "start_sin", 0)
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set_config_field(config, "start_sin90", 247)
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# Helper to configure and query the microstep settings
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def TMCMicrostepHelper(config, mcu_tmc):
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fields = mcu_tmc.get_fields()
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@ -11,10 +11,12 @@ TMC_FREQUENCY=13200000.
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
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"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61,
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"MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65,
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"MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69,
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"MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c, "COOLCONF": 0x6d,
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"DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71,
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"ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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}
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ReadRegisters = [
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@ -45,6 +47,27 @@ Fields["TSTEP"] = { "tstep": 0xfffff }
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Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
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Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
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Fields["THIGH"] = { "thigh": 0xfffff }
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Fields["MSLUT0"] = { "mslut0": 0xffffffff }
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Fields["MSLUT1"] = { "mslut1": 0xffffffff }
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Fields["MSLUT2"] = { "mslut2": 0xffffffff }
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Fields["MSLUT3"] = { "mslut3": 0xffffffff }
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Fields["MSLUT4"] = { "mslut4": 0xffffffff }
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Fields["MSLUT5"] = { "mslut5": 0xffffffff }
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Fields["MSLUT6"] = { "mslut6": 0xffffffff }
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Fields["MSLUT7"] = { "mslut7": 0xffffffff }
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Fields["MSLUTSEL"] = {
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"x3": 0xFF << 24,
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"x2": 0xFF << 16,
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"x1": 0xFF << 8,
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"w3": 0x03 << 6,
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"w2": 0x03 << 4,
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"w1": 0x03 << 2,
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"w0": 0x03 << 0,
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}
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Fields["MSLUTSTART"] = {
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"start_sin": 0xFF << 0,
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"start_sin90": 0xFF << 16,
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}
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Fields["MSCNT"] = { "mscnt": 0x3ff }
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Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
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Fields["CHOPCONF"] = {
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@ -268,6 +291,7 @@ class TMC2130:
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self.get_phase_offset = cmdhelper.get_phase_offset
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self.get_status = cmdhelper.get_status
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# Setup basic register values
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tmc.TMCWaveTableHelper(config, self.mcu_tmc)
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tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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@ -171,6 +171,27 @@ Fields["IOIN"] = {
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Fields["LOST_STEPS"] = {
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"lost_steps": 0xfffff << 0
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}
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Fields["MSLUT0"] = { "mslut0": 0xffffffff }
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Fields["MSLUT1"] = { "mslut1": 0xffffffff }
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Fields["MSLUT2"] = { "mslut2": 0xffffffff }
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Fields["MSLUT3"] = { "mslut3": 0xffffffff }
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Fields["MSLUT4"] = { "mslut4": 0xffffffff }
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Fields["MSLUT5"] = { "mslut5": 0xffffffff }
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Fields["MSLUT6"] = { "mslut6": 0xffffffff }
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Fields["MSLUT7"] = { "mslut7": 0xffffffff }
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Fields["MSLUTSEL"] = {
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"x3": 0xFF << 24,
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"x2": 0xFF << 16,
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"x1": 0xFF << 8,
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"w3": 0x03 << 6,
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"w2": 0x03 << 4,
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"w1": 0x03 << 2,
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"w0": 0x03 << 0,
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}
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Fields["MSLUTSTART"] = {
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"start_sin": 0xFF << 0,
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"start_sin90": 0xFF << 16,
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}
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Fields["MSCNT"] = {
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"mscnt": 0x3ff << 0
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}
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@ -299,6 +320,7 @@ class TMC5160:
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self.get_phase_offset = cmdhelper.get_phase_offset
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self.get_status = cmdhelper.get_status
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# Setup basic register values
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tmc.TMCWaveTableHelper(config, self.mcu_tmc)
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tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# CHOPCONF
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set_config_field = self.fields.set_config_field
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