tmc5160: Add support for TMC5160 steppers (#1637)
Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>
This commit is contained in:
Stephan
KevinOConnor
parent
777013da4f
commit
de7ead1783
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@ -1148,6 +1148,85 @@
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# either 0 or one will lead to layout changes (the first bit of HDEC)
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# is interpreted as the MSB of HSTRT in this case).
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# Configure a TMC5160 stepper motor driver via SPI bus. To use this
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# feature, define a config section with a "tmc5160" prefix followed by
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# the name of the corresponding stepper config section (for example,
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# "[tmc5160 stepper_x]").
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# This block is an example with values that may be intersting.
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# If you want to turn further, see trinamics documentation.
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# Following registers are implemented with theyre fields:
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# COOLCONF, CHOPCONF, DRV_STATUS, FACTORY_CONF, GCONF, GSTAT, IHOLD_IRUN, IOIN
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# LOST_STEPS, MSCNT, MSCURACT, OTP_READ, PWM_AUTO, PWMCONF, PWM_SCALE, TPOWERDOWN,
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# TPWMTHRS, TSTEP
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#[tmc5160 stepper_x]
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#cs_pin:
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# The pin corresponding to the TMC5160 chip select line. This pin
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# will be set to low at the start of SPI messages and raised to high
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# after the message completes. This parameter must be provided.
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#spi_bus:
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#spi_speed:
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#spi_software_sclk_pin:
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#spi_software_mosi_pin:
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#spi_software_miso_pin:
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# These optional parameters allow one to customize the SPI settings
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# used to communicate with the chip.
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#microsteps:
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# The number of microsteps to configure the driver to use. Valid
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# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
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# be provided.
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#interpolate: True
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# If true, enable step interpolation (the driver will internally
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# step at a rate of 256 micro-steps). The default is True.
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#run_current:
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# The amount of current (in amps) to configure the driver to use
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# during stepper movement. This parameter must be provided.
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#hold_current:
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# The amount of current (in amps) to configure the driver to use
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# when the stepper is not moving. The default is to use the same
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# value as run_current.
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#sense_resistor: 0.075
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# The resistance (in ohms) of the motor sense resistor. The default
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# is 0.075 ohms.
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#stealthchop_threshold: 0
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# The velocity (in mm/s) to set the "stealthChop" threshold to. When
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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. Try to reexperience this with tmc5160.
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# Values can be much higher than other tmcs.
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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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#driver_TOFF: 0
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#driver_HEND: 2
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#driver_HSTRT: 5
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#driver_tpfd: 4
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#driver_pwm_autoscale: True
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#driver_pwm_autograd: True
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#driver_pwm_freq: 1
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#driver_PWM_GRAD: 0
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#driver_PWM_OFS: 30
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#driver_PWM_REG: 4
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#driver_PWM_LIM: 12
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#driver_SGT: 0
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# Set the given register during the configuration of the TMC5160
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# chip. This may be used to set custom motor parameters. The
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# defaults for each parameter are next to the parameter name in the
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# above list.
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#diag1_pin:
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# The micro-controller pin attached to the DIAG1 line of the TMC5160
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# chip. Setting this creates a "tmc5160_stepper_x:virtual_endstop"
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# virtual pin which may be used as the stepper's endstop_pin. Doing
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# this enables "sensorless homing". (Be sure to also set driver_SGT
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# to an appropriate sensitivity value.) The default is to not enable
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# sensorless homing. See docs/Sensorless_Homing.md for details on how
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# to configure this.
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#driver_semin: 0
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#driver_seup: 0
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#driver_semax: 0
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#driver_sedn: 0
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#driver_seimin: 0
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#driver_sfilt: 0
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# Homing override. One may use this mechanism to run a series of
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# g-code commands in place of a G28 found in the normal g-code input.
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# This may be useful on printers that require a specific procedure to
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@ -0,0 +1,437 @@
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# TMC5160 configuration
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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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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import math, logging, collections
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import bus, tmc2130
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vsense = 0.325
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GLOBAL_SCALER = 256
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TMC_FREQUENCY=12000000.
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registers = {
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"GCONF": 0x00 ,
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"GSTAT": 0x01 ,
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"IFCNT": 0x02 ,
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"SLAVECONF": 0x03 ,
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"IOIN": 0x04 ,
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"X_COMPARE": 0x05 ,
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"OTP_READ": 0x07 ,
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"FACTORY_CONF": 0x08 ,
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"SHORT_CONF": 0x09 ,
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"DRV_CONF": 0x0A ,
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"GLOBAL_SCALER": 0x0B ,
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"OFFSET_READ": 0x0C ,
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"IHOLD_IRUN": 0x10 ,
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"TPOWERDOWN": 0x11 ,
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"TSTEP": 0x12 ,
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"TPWMTHRS": 0x13 ,
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"TCOOLTHRS": 0x14 ,
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"THIGH": 0x15 ,
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"RAMPMODE": 0x20 ,
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"XACTUAL": 0x21 ,
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"VACTUAL": 0x22 ,
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"VSTART": 0x23 ,
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"A1": 0x24 ,
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"V1": 0x25 ,
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"AMAX": 0x26 ,
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"VMAX": 0x27 ,
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"DMAX": 0x28 ,
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"D1": 0x2A ,
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"VSTOP": 0x2B ,
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"TZEROWAIT": 0x2C ,
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"XTARGET": 0x2D ,
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"VDCMIN": 0x33 ,
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"SW_MODE": 0x34 ,
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"RAMP_STAT": 0x35 ,
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"XLATCH": 0x36 ,
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"ENCMODE": 0x38 ,
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"X_ENC": 0x39 ,
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"ENC_CONST": 0x3A ,
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"ENC_STATUS": 0x3B ,
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"ENC_LATCH": 0x3C ,
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"ENC_DEVIATION": 0x3D ,
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"MSLUT0": 0x60 ,
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"MSLUT1": 0x61 ,
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"MSLUT2": 0x62 ,
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"MSLUT3": 0x63 ,
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"MSLUT4": 0x64 ,
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"MSLUT5": 0x65 ,
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"MSLUT6": 0x66 ,
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"MSLUT7": 0x67 ,
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"MSLUTSEL": 0x68 ,
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"MSLUTSTART": 0x69 ,
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"MSCNT": 0x6A ,
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"MSCURACT": 0x6B ,
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"CHOPCONF": 0x6C ,
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"COOLCONF": 0x6D ,
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"DCCTRL": 0x6E ,
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"DRV_STATUS": 0x6F ,
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"PWMCONF": 0x70 ,
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"PWM_SCALE": 0x71 ,
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"PWM_AUTO": 0x72 ,
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"LOST_STEPS": 0x73
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}
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ReadRegisters = [
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"GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
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"LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWMCONF", "PWM_SCALE",
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"PWM_AUTO", "TSTEP"
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]
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fields = {}
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fields["COOLCONF"] = {
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"semin": 0x0F << 0,
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"seup": 0x03 << 5,
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"semax": 0x0F << 8,
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"sedn": 0x03 << 13,
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"seimin": 0x01 << 15,
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"sgt": 0x7F << 16,
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"sfilt": 0x01 << 24
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}
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fields["CHOPCONF"] = {
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"toff": 0x0F << 0,
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"hstrt": 0x07 << 4,
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"hend": 0x0F << 7,
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"fd3": 0x01 << 11,
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"disfdcc": 0x01 << 12,
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"chm": 0x01 << 14,
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"tbl": 0x03 << 15,
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"vhighfs": 0x01 << 18,
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"vhighchm": 0x01 << 19,
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"tpfd": 0x0F << 20, # midrange resonances
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"mres": 0x0F << 24,
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"intpol": 0x01 << 28,
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"dedge": 0x01 << 29,
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"diss2g": 0x01 << 30,
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"diss2vs": 0x01 << 31
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}
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fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3FF << 0,
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"s2vsa": 0x01 << 12,
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"s2vsb": 0x01 << 13,
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"stealth": 0x01 << 14,
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"fsactive": 0x01 << 15,
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"CSACTUAL": 0xFF << 16,
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"stallGuard": 0x01 << 24,
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"ot": 0x01 << 25,
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"otpw": 0x01 << 26,
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"s2ga": 0x01 << 27,
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"s2gb": 0x01 << 28,
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"ola": 0x01 << 29,
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"olb": 0x01 << 30,
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"stst": 0x01 << 31
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}
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fields["FACTORY_CONF"] = {
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"FACTORY_CONF": 0x1F << 0
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}
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fields["GCONF"] = {
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"recalibrate": 0x01 << 0,
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"faststandstill": 0x01 << 1,
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"en_pwm_mode": 0x01 << 2,
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"multistep_filt": 0x01 << 3,
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"shaft": 0x01 << 4,
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"diag0_error": 0x01 << 5,
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"diag0_otpw": 0x01 << 6,
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"diag0_stall": 0x01 << 7,
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"diag1_stall": 0x01 << 8,
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"diag1_index": 0x01 << 9,
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"diag1_onstate": 0x01 << 10,
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"diag1_steps_skipped": 0x01 << 11,
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"diag0_int_pushpull": 0x01 << 12,
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"diag1_poscomp_pushpull": 0x01 << 13,
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"small_hysteresis": 0x01 << 14,
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"stop_enable": 0x01 << 15,
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"direct_mode": 0x01 << 16,
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"test_mode": 0x01 << 17
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}
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fields["GSTAT"] = {
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"reset": 0x01 << 0,
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"drv_err": 0x01 << 1,
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"uv_cp": 0x01 << 2
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}
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fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1F << 0,
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"IRUN": 0x1F << 8,
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"IHOLDDELAY": 0x0F << 16
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}
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fields["IOIN"] = {
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"REFL_STEP": 0x01 << 0,
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"REFR_DIR": 0x01 << 1,
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"ENCB_DCEN_CFG4": 0x01 << 2,
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"ENCA_DCIN_CFG5": 0x01 << 3,
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"DRV_ENN": 0x01 << 4,
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"ENC_N_DCO_CFG6": 0x01 << 5,
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"SD_MODE": 0x01 << 6,
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"SWCOMP_IN": 0x01 << 7,
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"VERSION": 0xFF << 24
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}
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fields["LOST_STEPS"] = {
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"LOST_STEPS": 0xfffff << 0
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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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fields["MSCURACT"] = {
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"CUR_A": 0x1ff << 0,
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"CUR_B": 0x1ff << 16
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}
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fields["OTP_READ"] = {
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"OTP_FCLKTRIM": 0x1f << 0,
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"otp_S2_LEVEL": 0x01 << 5,
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"otp_BBM": 0x01 << 6,
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"otp_TBL": 0x01 << 7
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}
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fields["PWM_AUTO"] = {
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"PWM_OFS_AUTO": 0xff << 0,
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"PWM_GRAD_AUTO": 0xff << 16
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}
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fields["PWMCONF"] = {
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"PWM_OFS": 0xFF << 0,
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"PWM_GRAD": 0xFF << 8,
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"pwm_freq": 0x03 << 16,
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"pwm_autoscale": 0x01 << 18,
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"pwm_autograd": 0x01 << 19,
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"freewheel": 0x03 << 20,
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"PWM_REG": 0x0F << 24,
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"PWM_LIM": 0x0F << 28
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}
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fields["PWM_SCALE"] = {
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"PWM_SCALE_SUM": 0xff << 0,
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"PWM_SCALE_AUTO": 0x1ff << 16
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}
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fields["TPOWERDOWN"] = {
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"TPOWERDOWN": 0xff << 0
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}
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fields["TPWMTHRS"] = {
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"TPWMTHRS": 0xfffff << 0
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}
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fields["TSTEP"] = {
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"TSTEP": 0xfffff << 0
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}
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FieldFormatters = dict(tmc2130.FieldFormatters)
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FieldFormatters.update({
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"reset": (lambda v: "1(reset)" if v else ""),
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"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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})
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######################################################################
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# Config reading helpers
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######################################################################
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def bits_to_current(bits, sense_resistor, vsense_on):
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#current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
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current = (bits + 1) * (GLOBAL_SCALER *vsense) \
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/ (32*GLOBAL_SCALER*math.sqrt(2.)*sense_resistor)
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return round(current, 2)
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def calc_current_config(run_current, hold_current, sense_resistor):
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irun = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * run_current * \
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sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
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ihold = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * hold_current * \
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sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
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return irun, ihold
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def get_config_current(config):
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run_current = config.getfloat('run_current', above=0., maxval=3.)
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hold_current = config.getfloat('hold_current', run_current, above=0.,\
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maxval=3.)
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sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
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irun, ihold = calc_current_config(run_current, hold_current,\
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sense_resistor)
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return irun, ihold, sense_resistor
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######################################################################
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# TMC5160 printer object
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######################################################################
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class TMC5160:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=100000)
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# Allow virtual endstop to be created
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self.diag1_pin = config.get('diag1_pin', None)
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ppins = self.printer.lookup_object("pins")
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ppins.register_chip("tmc5160_" + self.name, self)
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# Add DUMP_TMC, INIT_TMC command
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"SET_TMC_CURRENT", "STEPPER", self.name,
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self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
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gcode.register_mux_command(
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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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gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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self.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(fields, FieldFormatters, self.regs)
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irun, ihold, self.sense_resistor = get_config_current(config)
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msteps, en_pwm, thresh = \
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tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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set_config_field = self.fields.set_config_field
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# CHOPCONF
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set_config_field(config, "toff", 3)
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set_config_field(config, "hstrt", 5)
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set_config_field(config, "hend", 2)
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set_config_field(config, "fd3", 0)
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set_config_field(config, "disfdcc", 0)
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set_config_field(config, "chm", 0)
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set_config_field(config, "tbl", 2)
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set_config_field(config, "vhighfs", 0)
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set_config_field(config, "vhighchm", 0)
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set_config_field(config, "tpfd", 4)
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self.fields.set_field("mres", msteps) # microsteps
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set_config_field(config, "intpol", True, "interpolate")
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set_config_field(config, "dedge", 0)
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set_config_field(config, "diss2g", 0)
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set_config_field(config, "diss2vs", 0)
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# COOLCONF
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set_config_field(config, "semin", 0) # page 52
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set_config_field(config, "seup", 0)
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set_config_field(config, "semax", 0)
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set_config_field(config, "sedn", 0)
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set_config_field(config, "seimin", 0)
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set_config_field(config, "sgt", 0)
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set_config_field(config, "sfilt", 0)
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# GCONF
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self.fields.set_field("en_pwm_mode", en_pwm)
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# IHOLDIRUN
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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set_config_field(config, "IHOLDDELAY", 6)
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# PWMCONF
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set_config_field(config, "PWM_OFS", 30)
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set_config_field(config, "PWM_GRAD", 0)
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "pwm_autograd", True)
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set_config_field(config, "freewheel", 0)
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||||
set_config_field(config, "PWM_REG", 4)
|
||||
set_config_field(config, "PWM_LIM", 12)
|
||||
# TPWMTHRS
|
||||
self.fields.set_field("TPWMTHRS", thresh)
|
||||
# TPOWERDOWN
|
||||
set_config_field(config, "TPOWERDOWN", 10)
|
||||
|
||||
self._init_registers()
|
||||
def decode_hex(self, hex_, reg_name=False):
|
||||
reg = int( (hex_ >> 32) & 0xff - long(0x80) )
|
||||
if reg not in registers.values():
|
||||
reg = int( (hex_ >> 32) & 0xff )
|
||||
if reg not in registers.values():
|
||||
reg_name = "UFO"
|
||||
if not reg_name:
|
||||
for name, adr_ in registers.items():
|
||||
if adr_ == reg:
|
||||
reg_name = name
|
||||
val = hex_ & 0xFFFFFFFF
|
||||
logging.debug(self.fields.pretty_format(reg_name, val))
|
||||
def _init_registers(self, min_clock = 0):
|
||||
for reg_name, val in self.regs.items():
|
||||
self.set_register(reg_name, val, min_clock)
|
||||
def setup_pin(self, pin_type, pin_params):
|
||||
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
|
||||
raise pins.error("tmc5160 virtual endstop only useful as endstop")
|
||||
if pin_params['invert'] or pin_params['pullup']:
|
||||
raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
|
||||
return tmc2130.TMC2130VirtualEndstop(self)
|
||||
def get_register(self, reg_name):
|
||||
reg = registers[reg_name]
|
||||
self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
|
||||
params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
|
||||
pr = bytearray(params['response'])
|
||||
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
|
||||
def set_register(self, reg_name, val, min_clock = 0):
|
||||
reg = registers[reg_name]
|
||||
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
|
||||
(val >> 8) & 0xff, val & 0xff]
|
||||
self.decode_hex( val, reg_name=reg_name )
|
||||
self.spi.spi_send(data, min_clock)
|
||||
def set_adress(self, val, min_clock=0):
|
||||
data = [(val >> 32) & 0xff, (val >> 24) & 0xff,
|
||||
(val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
|
||||
self.spi.spi_send(data, min_clock)
|
||||
def get_microsteps(self):
|
||||
return 256 >> self.fields.get_field("MRES")
|
||||
def get_phase(self):
|
||||
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
|
||||
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()
|
||||
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
|
||||
irun, ihold = calc_current_config(run_current,
|
||||
hold_current, self.sense_resistor)
|
||||
self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
|
||||
else:
|
||||
gcode.respond_info(
|
||||
"Run Current: %0.2fA Hold Current: %0.2fA"
|
||||
% (run_current, hold_current))
|
||||
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
|
||||
def cmd_DUMP_TMC(self, params):
|
||||
self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
logging.info("DUMP_TMC %s", self.name)
|
||||
gcode.respond_info("========== Write-only registers ==========")
|
||||
for reg_name, val in self.regs.items():
|
||||
if reg_name not in ReadRegisters:
|
||||
gcode.respond_info(self.fields.pretty_format(reg_name, val))
|
||||
gcode.respond_info("========== Queried registers ==========")
|
||||
for reg_name in ReadRegisters:
|
||||
val = self.get_register(reg_name)
|
||||
gcode.respond_info(self.fields.pretty_format(reg_name, val))
|
||||
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
|
||||
def cmd_INIT_TMC(self, params):
|
||||
logging.info("INIT_TMC 5160 %s", self.name)
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
|
||||
self._init_registers(min_clock)
|
||||
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC5160 driver"
|
||||
def cmd_SET_TMC_FIELD(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
if ('FIELD' not in params or
|
||||
'VALUE' not in params):
|
||||
raise gcode.error("Invalid command format")
|
||||
field = gcode.get_str('FIELD', params)
|
||||
reg = self.fields.field_to_register[field]
|
||||
value = gcode.get_int('VALUE', params)
|
||||
self.fields.set_field(field, value)
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
|
||||
self.set_register(reg, self.regs[reg], min_clock)
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC5160(config)
|
||||
Loading…
Reference in New Issue