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