3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

tmc2660: Automate VSENSE computation 

Adjust the HEND default, which was faulty after the the fields update, remove disallowance of setting CS

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2019-03-22 17:26:40 +00:00 committed by KevinOConnor
parent 0980b7e4ec
commit bece690c5b
1 changed files with 33 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
klippy/extras/tmc2660.py
View File

@ -6,11 +6,19 @@
import math, collections, logging import math, collections, logging
import bus, tmc2130 import bus, tmc2130
def current_to_reg(current, sense_resistor, vsense_on): def current_bits(current, sense_resistor, vsense_on):
vsense = 0.165 if vsense_on else 0.310 vsense = 0.165 if vsense_on else 0.310
cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
return max(0, min(cs, 31)) return max(0, min(cs, 31))
def get_config_current(run_current, sense_resistor):
vsense = False
cs = current_bits(run_current, sense_resistor, vsense)
if cs < 16:
vsense = True
cs = current_bits(run_current, sense_resistor, vsense)
return cs, vsense
Registers = { Registers = {
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA, "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
"CHOPCONF": 0x8, "DRVCTRL": 0x0 "CHOPCONF": 0x8, "DRVCTRL": 0x0
@ -157,7 +165,7 @@ class TMC2660:
set_config_field(config, "RNDTF", 0) set_config_field(config, "RNDTF", 0)
set_config_field(config, "HDEC", 0) set_config_field(config, "HDEC", 0)
set_config_field(config, "CHM", 0) set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 6) set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3) set_config_field(config, "HSTRT", 3)
set_config_field(config, "TOFF", 4) set_config_field(config, "TOFF", 4)
if not self.fields.get_field("CHM"): if not self.fields.get_field("CHM"):
@ -171,25 +179,26 @@ class TMC2660:
set_config_field(config, "SEUP", 0) set_config_field(config, "SEUP", 0)
set_config_field(config, "SEMIN", 0) set_config_field(config, "SEMIN", 0)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
set_config_field(config, "VSENSE", 1)
self.fields.set_field("RDSEL", 0) # needed for phase calculations
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
self.sense_resistor = config.getfloat('sense_resistor')
# SGSCONF # SGSCONF
set_config_field(config, "SFILT", 1) set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0) set_config_field(config, "SGT", 0)
self.current = config.getfloat('run_current', minval=0.1, self.current = config.getfloat('run_current', minval=0.1,
maxval=2.4) maxval=2.4)
self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.sense_resistor = config.getfloat('sense_resistor')
self.fields.get_field("VSENSE")) (self.driver_cs,
self.driver_vsense) = get_config_current(self.current,
self.sense_resistor)
self.fields.set_field("CS", self.driver_cs) self.fields.set_field("CS", self.driver_cs)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
self.fields.set_field("VSENSE", self.driver_vsense)
self.fields.set_field("RDSEL", 0) # needed for phase calculations
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
# Init Registers # Init Registers
self._init_registers(self) self._init_registers(self)
@ -234,11 +243,15 @@ class TMC2660:
* self.current / 100)) * self.current / 100))
def set_current(self, print_time, current): def set_current(self, print_time, current):
self.driver_cs = current_to_reg(current, self.sense_resistor, (self.driver_cs,
self.fields.get_field("VSENSE")) self.driver_vsense) = get_config_current(current, self.sense_resistor)
self.fields.set_field("CS", self.driver_cs) self.fields.set_field("CS", self.driver_cs)
clock = self.spi.get_mcu().print_time_to_clock(print_time) clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock) self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock)
# Only update VSENSE if we need to
if self.driver_vsense != self.fields.get_field("VSENSE"):
self.fields.set_field("VSENSE", self.driver_vsense)
self.set_register("DRVCONF", self.regs["DRVCONF"], min_clock=clock)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver" cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, params): def cmd_SET_TMC_CURRENT(self, params):
@ -268,8 +281,8 @@ class TMC2660:
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params): def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2660 %s", self.name) logging.info("INIT_TMC 2660 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time() pt = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time) min_clock = self.spi.get_mcu().print_time_to_clock(pt)
self._init_registers(min_clock) self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver" cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver"
@ -279,13 +292,11 @@ class TMC2660:
'VALUE' not in params): 'VALUE' not in params):
raise gcode.error("Invalid command format") raise gcode.error("Invalid command format")
field = gcode.get_str('FIELD', params) field = gcode.get_str('FIELD', params)
if field == "CS":
raise gcode.error("Use SET_TMC_CURRENT to set CS")
reg = self.fields.field_to_register[field] reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params) value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value) self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time() pt = self.printer.lookup_object('toolhead').get_last_move_time()
clock = self.spi.get_mcu().print_time_to_clock(print_time) clock = self.spi.get_mcu().print_time_to_clock(pt)
self.set_register(reg, self.regs[reg], min_clock=clock) self.set_register(reg, self.regs[reg], min_clock=clock)
def load_config_prefix(config): def load_config_prefix(config):