tmc2130: Share config reading helpers with tmc2208.py code
Add helper function for reading current, microsteps, and stealthchop settings from the config file. Use these helpers in both the tmc2130 and tmc2208 modules. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -93,6 +93,50 @@ class FieldHelper:
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return "%-11s %08x%s" % (reg_name + ":", value, "".join(fields))
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return "%-11s %08x%s" % (reg_name + ":", value, "".join(fields))
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######################################################################
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# Config reading helpers
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######################################################################
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def current_bits(current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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if vsense_on:
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vsense = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
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return max(0, min(31, cs))
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def get_config_current(config):
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vsense = False
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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irun = current_bits(run_current, sense_resistor, vsense)
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ihold = current_bits(hold_current, sense_resistor, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = current_bits(run_current, sense_resistor, vsense)
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ihold = current_bits(hold_current, sense_resistor, vsense)
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return vsense, irun, ihold
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def get_config_microsteps(config):
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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return config.getchoice('microsteps', steps)
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def get_config_stealthchop(config, tmc_freq):
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mres = get_config_microsteps(config)
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if not velocity:
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return mres, False, 0
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stepper_name = config.get_name().split()[1]
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << mres)
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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return mres, True, max(0, min(0xfffff, threshold))
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######################################################################
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######################################################################
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# TMC2130 printer object
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# TMC2130 printer object
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######################################################################
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######################################################################
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@ -112,17 +156,10 @@ class TMC2130:
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"DUMP_TMC", "STEPPER", self.name,
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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# Get config for initial driver settings
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# Get config for initial driver settings
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self.field_helper = FieldHelper(Fields)
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self.fields = FieldHelper(Fields)
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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self.mres = config.getchoice('microsteps', steps)
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interpolate = config.getboolean('interpolate', True)
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interpolate = config.getboolean('interpolate', True)
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sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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self.mres, en_pwm, sc_threshold = get_config_stealthchop(
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sc_threshold = self.velocity_to_clock(config, sc_velocity)
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config, TMC_FREQUENCY)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
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tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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@ -135,16 +172,9 @@ class TMC2130:
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pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
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pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
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pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255)
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pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255)
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pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
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pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
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# calculate current
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vsense, irun, ihold = get_config_current(config)
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vsense = False
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# Configure registers
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# Configure registers
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self.reg_GCONF = (sc_velocity > 0.) << 2
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self.reg_GCONF = en_pwm << 2
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self.set_register("GCONF", self.reg_GCONF)
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self.set_register("GCONF", self.reg_GCONF)
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self.set_register("CHOPCONF", (
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self.set_register("CHOPCONF", (
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toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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@ -152,26 +182,10 @@ class TMC2130:
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self.set_register("IHOLD_IRUN",
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self.set_register("IHOLD_IRUN",
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ihold | (irun << 8) | (iholddelay << 16))
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ihold | (irun << 8) | (iholddelay << 16))
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self.set_register("TPOWERDOWN", tpowerdown)
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self.set_register("TPOWERDOWN", tpowerdown)
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self.set_register("TPWMTHRS", max(0, min(0xfffff, sc_threshold)))
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self.set_register("TPWMTHRS", sc_threshold)
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self.set_register("COOLCONF", sgt << 16)
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self.set_register("COOLCONF", sgt << 16)
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self.set_register("PWMCONF", (
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self.set_register("PWMCONF", (
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pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
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pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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if vsense_on:
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vsense = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
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- 1. + .5)
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return max(0, min(31, cs))
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def velocity_to_clock(self, config, velocity):
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if not velocity:
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return 0
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stepper_name = config.get_name().split()[1]
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << self.mres)
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return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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def setup_pin(self, pin_type, pin_params):
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def setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise pins.error("tmc2130 virtual endstop only useful as endstop")
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raise pins.error("tmc2130 virtual endstop only useful as endstop")
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@ -200,7 +214,7 @@ class TMC2130:
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logging.info("DUMP_TMC %s", self.name)
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logging.info("DUMP_TMC %s", self.name)
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for reg_name in ReadRegisters:
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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val = self.get_register(reg_name)
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msg = self.field_helper.pretty_format(reg_name, val)
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msg = self.fields.pretty_format(reg_name, val)
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logging.info(msg)
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logging.info(msg)
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gcode.respond_info(msg)
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gcode.respond_info(msg)
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@ -3,7 +3,7 @@
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, collections
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import logging, collections
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import tmc2130
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import tmc2130
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TMC_FREQUENCY=12000000.
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TMC_FREQUENCY=12000000.
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@ -292,30 +292,14 @@ class TMC2208:
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self.fields.set_field("pdn_disable", True)
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self.fields.set_field("pdn_disable", True)
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self.fields.set_field("mstep_reg_select", True)
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self.fields.set_field("mstep_reg_select", True)
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self.fields.set_field("multistep_filt", True)
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self.fields.set_field("multistep_filt", True)
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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vsense, irun, ihold = tmc2130.get_config_current(config)
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'8': 5, '4': 6, '2': 7, '1': 8}
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mres = config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", mres)
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# Calculate current
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vsense = False
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.fields.set_field("IRUN", irun)
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# Setup stealthchop
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mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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self.fields.set_field("MRES", mres)
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sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
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self.fields.set_field("en_spreadCycle", not en)
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self.fields.set_field("en_spreadCycle", not sc_velocity)
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self.fields.set_field("TPWMTHRS", thresh)
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self.fields.set_field("TPWMTHRS", sc_threshold)
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# Allow other registers to be set from the config
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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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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 3)
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set_config_field(config, "toff", 3)
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@ -332,23 +316,6 @@ class TMC2208:
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set_config_field(config, "pwm_autograd", True)
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set_config_field(config, "pwm_autograd", True)
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set_config_field(config, "PWM_REG", 8)
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set_config_field(config, "PWM_REG", 8)
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set_config_field(config, "PWM_LIM", 12)
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set_config_field(config, "PWM_LIM", 12)
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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if vsense_on:
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vsense = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
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- 1. + .5)
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return max(0, min(31, cs))
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def velocity_to_clock(self, config, velocity, mres):
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if not velocity:
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return 0
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stepper_name = config.get_name().split()[1]
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << mres)
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threshold = int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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return max(0, min(0xfffff, threshold))
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def build_config(self):
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def build_config(self):
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bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
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bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
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self.mcu.add_config_cmd(
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self.mcu.add_config_cmd(
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