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tmc5160: 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 23:10:30 -04:00 committed by KevinOConnor
parent 110bbb3843
commit b2729f38a6
1 changed files with 61 additions and 66 deletions
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127
klippy/extras/tmc5160.py
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@ -1,13 +1,11 @@
# TMC5160 configuration # TMC5160 configuration
# #
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections import math, logging, collections
import bus, tmc2130 import bus, tmc2130
vsense = 0.325
GLOBAL_SCALER = 256
TMC_FREQUENCY=12000000. TMC_FREQUENCY=12000000.
Registers = { Registers = {
@ -220,31 +218,69 @@ FieldFormatters.update({
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""), "uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
}) })
###################################################################### ######################################################################
# Config reading helpers # TMC stepper current config helper
###################################################################### ######################################################################
def bits_to_current(bits, sense_resistor, vsense_on): VREF = 0.325
#current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.)) MAX_CURRENT = 3.000
current = (bits + 1) * (GLOBAL_SCALER *vsense) \
/ (32*GLOBAL_SCALER*math.sqrt(2.)*sense_resistor)
return round(current, 2)
def calc_current_config(run_current, hold_current, sense_resistor): class TMC5160CurrentHelper:
irun = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * run_current * \ def __init__(self, config, mcu_tmc):
sense_resistor) / (GLOBAL_SCALER * vsense) -1 ) self.printer = config.get_printer()
ihold = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * hold_current * \ self.name = config.get_name().split()[-1]
sense_resistor) / (GLOBAL_SCALER * vsense) -1 ) self.mcu_tmc = mcu_tmc
return irun, ihold self.fields = mcu_tmc.get_fields()
run_current = config.getfloat('run_current',
above=0., maxval=MAX_CURRENT)
hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=MAX_CURRENT)
self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
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):
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, hold_current):
irun = self._calc_current_bits(run_current)
ihold = self._calc_current_bits(hold_current)
return irun, ihold
def _calc_current_from_field(self, field_name):
bits = self.fields.get_field(field_name)
current = ((bits + 1) * VREF
/ (32. * math.sqrt(2.) * self.sense_resistor))
return round(current, 2)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT)
else:
hold_current = self._calc_current_from_field("IHOLD")
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=MAX_CURRENT)
else:
run_current = self._calc_current_from_field("IRUN")
if 'HOLDCURRENT' not in params and 'CURRENT' not in params:
# Query only
gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (run_current, hold_current))
return
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
val = self.fields.set_field("IRUN", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
def get_config_current(config):
run_current = config.getfloat('run_current', above=0., maxval=3.)
hold_current = config.getfloat('hold_current', run_current, above=0.,\
maxval=3.)
sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
irun, ihold = calc_current_config(run_current, hold_current,\
sense_resistor)
return irun, ihold, sense_resistor
###################################################################### ######################################################################
# TMC5160 printer object # TMC5160 printer object
@ -255,9 +291,7 @@ class TMC5160:
self.printer = config.get_printer() self.printer = config.get_printer()
self.name = config.get_name().split()[-1] self.name = config.get_name().split()[-1]
# Setup mcu communication # Setup mcu communication
self.regs = collections.OrderedDict() self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
self.regs)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields) self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
self.get_register = self.mcu_tmc.get_register self.get_register = self.mcu_tmc.get_register
self.set_register = self.mcu_tmc.set_register self.set_register = self.mcu_tmc.set_register
@ -268,12 +302,7 @@ class TMC5160:
# Register commands # Register commands
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers) 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 basic register values # Setup basic register values
irun, ihold, self.sense_resistor = get_config_current(config)
msteps, en_pwm, thresh = \ msteps, en_pwm, thresh = \
tmc2130.get_config_stealthchop(config, TMC_FREQUENCY) tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field set_config_field = self.fields.set_config_field
@ -304,8 +333,7 @@ class TMC5160:
# GCONF # GCONF
self.fields.set_field("en_pwm_mode", en_pwm) self.fields.set_field("en_pwm_mode", en_pwm)
# IHOLDIRUN # IHOLDIRUN
self.fields.set_field("IHOLD", ihold) TMC5160CurrentHelper(config, self.mcu_tmc)
self.fields.set_field("IRUN", irun)
set_config_field(config, "IHOLDDELAY", 6) set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF # PWMCONF
set_config_field(config, "PWM_OFS", 30) set_config_field(config, "PWM_OFS", 30)
@ -334,39 +362,6 @@ class TMC5160:
def get_phase(self): def get_phase(self):
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
return mscnt >> self.fields.get_field("MRES") return mscnt >> self.fields.get_field("MRES")
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC5160 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
vsense = True
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=3.)
else:
hold_current = bits_to_current(
self.fields.get_field("IHOLD"),
self.sense_resistor,
vsense)
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=2.)
else:
run_current = bits_to_current(
self.fields.get_field("IRUN"),
self.sense_resistor,
vsense)
if 'HOLDCURRENT' in params or 'CURRENT' in params:
print_time = self.printer.lookup_object('toolhead')\
.get_last_move_time()
irun, ihold = calc_current_config(run_current,
hold_current, self.sense_resistor)
self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], print_time)
else:
gcode.respond_info(
"Run Current: %0.2fA Hold Current: %0.2fA"
% (run_current, hold_current))
def load_config_prefix(config): def load_config_prefix(config):
return TMC5160(config) return TMC5160(config)