3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
klipper/klippy/extras/tmc2240.py

409 lines
15 KiB
Python
Raw Blame History

# TMC2240 configuration
#
# Copyright (C) 2018-2023 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2023 Alex Voinea <voinea.dragos.alexandru@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
from . import bus, tmc, tmc2130, tmc_uart
TMC_FREQUENCY=12500000.
Registers = {
"GCONF": 0x00,
"GSTAT": 0x01,
"IFCNT": 0x02,
"NODECONF": 0x03,
"IOIN": 0x04,
"DRV_CONF": 0x0A,
"GLOBALSCALER": 0x0B,
"IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11,
"TSTEP": 0x12,
"TPWMTHRS": 0x13,
"TCOOLTHRS": 0x14,
"THIGH": 0x15,
"DIRECT_MODE": 0x2D,
"ENCMODE": 0x38,
"X_ENC": 0x39,
"ENC_CONST": 0x3A,
"ENC_STATUS": 0x3B,
"ENC_LATCH": 0x3C,
"ADC_VSUPPLY_AIN": 0x50,
"ADC_TEMP": 0x51,
"OTW_OV_VTH": 0x52,
"MSLUT0": 0x60,
"MSLUT1": 0x61,
"MSLUT2": 0x62,
"MSLUT3": 0x63,
"MSLUT4": 0x64,
"MSLUT5": 0x65,
"MSLUT6": 0x66,
"MSLUT7": 0x67,
"MSLUTSEL": 0x68,
"MSLUTSTART": 0x69,
"MSCNT": 0x6A,
"MSCURACT": 0x6B,
"CHOPCONF": 0x6C,
"COOLCONF": 0x6D,
"DRV_STATUS": 0x6F,
"PWMCONF": 0x70,
"PWM_SCALE": 0x71,
"PWM_AUTO": 0x72,
"SG4_THRS": 0x74,
"SG4_RESULT": 0x75,
"SG4_IND": 0x76,
}
ReadRegisters = [
"GCONF", "GSTAT", "IOIN", "DRV_CONF", "GLOBALSCALER", "IHOLD_IRUN",
"TPOWERDOWN", "TSTEP", "TPWMTHRS", "TCOOLTHRS", "THIGH", "ADC_VSUPPLY_AIN",
"ADC_TEMP", "MSCNT", "MSCURACT", "CHOPCONF", "COOLCONF", "DRV_STATUS",
"PWMCONF", "PWM_SCALE", "PWM_AUTO", "SG4_THRS", "SG4_RESULT", "SG4_IND"
]
Fields = {}
Fields["COOLCONF"] = {
"semin": 0x0F << 0,
"seup": 0x03 << 5,
"semax": 0x0F << 8,
"sedn": 0x03 << 13,
"seimin": 0x01 << 15,
"sgt": 0x7F << 16,
"sfilt": 0x01 << 24
}
Fields["CHOPCONF"] = {
"toff": 0x0F << 0,
"hstrt": 0x07 << 4,
"hend": 0x0F << 7,
"fd3": 0x01 << 11,
"disfdcc": 0x01 << 12,
"chm": 0x01 << 14,
"tbl": 0x03 << 15,
"vhighfs": 0x01 << 18,
"vhighchm": 0x01 << 19,
"tpfd": 0x0F << 20, # midrange resonances
"mres": 0x0F << 24,
"intpol": 0x01 << 28,
"dedge": 0x01 << 29,
"diss2g": 0x01 << 30,
"diss2vs": 0x01 << 31
}
Fields["DRV_STATUS"] = {
"sg_result": 0x3FF << 0,
"s2vsa": 0x01 << 12,
"s2vsb": 0x01 << 13,
"stealth": 0x01 << 14,
"fsactive": 0x01 << 15,
"csactual": 0x1F << 16,
"stallguard": 0x01 << 24,
"ot": 0x01 << 25,
"otpw": 0x01 << 26,
"s2ga": 0x01 << 27,
"s2gb": 0x01 << 28,
"ola": 0x01 << 29,
"olb": 0x01 << 30,
"stst": 0x01 << 31
}
Fields["GCONF"] = {
"faststandstill": 0x01 << 1,
"en_pwm_mode": 0x01 << 2,
"multistep_filt": 0x01 << 3,
"shaft": 0x01 << 4,
"diag0_error": 0x01 << 5,
"diag0_otpw": 0x01 << 6,
"diag0_stall": 0x01 << 7,
"diag1_stall": 0x01 << 8,
"diag1_index": 0x01 << 9,
"diag1_onstate": 0x01 << 10,
"diag0_pushpull": 0x01 << 12,
"diag1_pushpull": 0x01 << 13,
"small_hysteresis": 0x01 << 14,
"stop_enable": 0x01 << 15,
"direct_mode": 0x01 << 16
}
Fields["GSTAT"] = {
"reset": 0x01 << 0,
"drv_err": 0x01 << 1,
"uv_cp": 0x01 << 2,
"register_reset": 0x01 << 3,
"vm_uvlo": 0x01 << 4
}
Fields["GLOBALSCALER"] = {
"globalscaler": 0xFF << 0
}
Fields["IHOLD_IRUN"] = {
"ihold": 0x1F << 0,
"irun": 0x1F << 8,
"iholddelay": 0x0F << 16,
"irundelay": 0x0F << 24
}
Fields["IOIN"] = {
"step": 0x01 << 0,
"dir": 0x01 << 1,
"encb": 0x01 << 2,
"enca": 0x01 << 3,
"drv_enn": 0x01 << 4,
"encn": 0x01 << 5,
"uart_en": 0x01 << 6,
"comp_a": 0x01 << 8,
"comp_b": 0x01 << 9,
"comp_a1_a2": 0x01 << 10,
"comp_b1_b2": 0x01 << 11,
"output": 0x01 << 12,
"ext_res_det": 0x01 << 13,
"ext_clk": 0x01 << 14,
"adc_err": 0x01 << 15,
"silicon_rv": 0x07 << 16,
"version": 0xFF << 24
}
Fields["MSLUT0"] = { "mslut0": 0xffffffff }
Fields["MSLUT1"] = { "mslut1": 0xffffffff }
Fields["MSLUT2"] = { "mslut2": 0xffffffff }
Fields["MSLUT3"] = { "mslut3": 0xffffffff }
Fields["MSLUT4"] = { "mslut4": 0xffffffff }
Fields["MSLUT5"] = { "mslut5": 0xffffffff }
Fields["MSLUT6"] = { "mslut6": 0xffffffff }
Fields["MSLUT7"] = { "mslut7": 0xffffffff }
Fields["MSLUTSEL"] = {
"x3": 0xFF << 24,
"x2": 0xFF << 16,
"x1": 0xFF << 8,
"w3": 0x03 << 6,
"w2": 0x03 << 4,
"w1": 0x03 << 2,
"w0": 0x03 << 0,
}
Fields["MSLUTSTART"] = {
"start_sin": 0xFF << 0,
"start_sin90": 0xFF << 16,
"offset_sin90": 0xFF << 24,
}
Fields["MSCNT"] = {
"mscnt": 0x3ff << 0
}
Fields["MSCURACT"] = {
"cur_a": 0x1ff << 0,
"cur_b": 0x1ff << 16
}
Fields["PWM_AUTO"] = {
"pwm_ofs_auto": 0xff << 0,
"pwm_grad_auto": 0xff << 16
}
Fields["PWMCONF"] = {
"pwm_ofs": 0xFF << 0,
"pwm_grad": 0xFF << 8,
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
"pwm_meas_sd_enable": 0x01 << 22,
"pwm_dis_reg_stst": 0x01 << 23,
"pwm_reg": 0x0F << 24,
"pwm_lim": 0x0F << 28
}
Fields["PWM_SCALE"] = {
"pwm_scale_sum": 0x3ff << 0,
"pwm_scale_auto": 0x1ff << 16
}
Fields["TPOWERDOWN"] = {
"tpowerdown": 0xff << 0
}
Fields["TPWMTHRS"] = {
"tpwmthrs": 0xfffff << 0
}
Fields["TCOOLTHRS"] = {
"tcoolthrs": 0xfffff << 0
}
Fields["TSTEP"] = {
"tstep": 0xfffff << 0
}
Fields["THIGH"] = {
"thigh": 0xfffff << 0
}
Fields["DRV_CONF"] = {
"current_range": 0x03 << 0,
"slope_control": 0x03 << 4
}
Fields["ADC_VSUPPLY_AIN"] = {
"adc_vsupply": 0x1fff << 0,
"adc_ain": 0x1fff << 16
}
Fields["ADC_TEMP"] = {
"adc_temp": 0x1fff << 0
}
Fields["OTW_OV_VTH"] = {
"overvoltage_vth": 0x1fff << 0,
"overtempprewarning_vth": 0x1fff << 16
}
Fields["SG4_THRS"] = {
"sg4_thrs": 0xFF << 0,
"sg4_filt_en": 0x01 << 8,
"sg4_angle_offset": 0x01 << 9
}
Fields["SG4_RESULT"] = {
"sg4_result": 0x3FF << 0
}
Fields["SG4_IND"] = {
"sg4_ind_0": 0xFF << 0,
"sg4_ind_1": 0xFF << 8,
"sg4_ind_2": 0xFF << 16,
"sg4_ind_3": 0xFF << 24
}
SignedFields = ["cur_a", "cur_b", "sgt", "pwm_scale_auto", "offset_sin90"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
"s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
"adc_temp": (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
})
######################################################################
# TMC stepper current config helper
######################################################################
class TMC2240CurrentHelper:
def __init__(self, config, mcu_tmc):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
self.Rref = config.getfloat('rref', 12000.,
minval=12000., maxval=60000.)
max_cur = self._get_ifs_rms(3)
run_current = config.getfloat('run_current', above=0., maxval=max_cur)
hold_current = config.getfloat('hold_current', max_cur,
above=0., maxval=max_cur)
self.req_hold_current = hold_current
current_range = self._calc_current_range(run_current)
self.fields.set_field("current_range", current_range)
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("globalscaler", gscaler)
self.fields.set_field("ihold", ihold)
self.fields.set_field("irun", irun)
def _get_ifs_rms(self, current_range=None):
if current_range is None:
current_range = self.fields.get_field("current_range")
KIFS = [11750., 24000., 36000., 36000.]
return (KIFS[current_range] / self.Rref) / math.sqrt(2.)
def _calc_current_range(self, current):
for current_range in range(4):
if current <= self._get_ifs_rms(current_range):
break
return current_range
def _calc_globalscaler(self, current):
ifs_rms = self._get_ifs_rms()
globalscaler = int(((current * 256.) / ifs_rms) + .5)
globalscaler = max(32, globalscaler)
if globalscaler >= 256:
globalscaler = 0
return globalscaler
def _calc_current_bits(self, current, globalscaler):
ifs_rms = self._get_ifs_rms()
if not globalscaler:
globalscaler = 256
cs = int((current * 256. * 32.) / (globalscaler * ifs_rms) - 1. + .5)
return max(0, min(31, cs))
def _calc_current(self, run_current, hold_current):
gscaler = self._calc_globalscaler(run_current)
irun = self._calc_current_bits(run_current, gscaler)
ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
return gscaler, irun, ihold
def _calc_current_from_field(self, field_name):
ifs_rms = self._get_ifs_rms()
globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
bits = self.fields.get_field(field_name)
return globalscaler * (bits + 1) * ifs_rms / (256. * 32.)
def get_current(self):
ifs_rms = self._get_ifs_rms()
run_current = self._calc_current_from_field("irun")
hold_current = self._calc_current_from_field("ihold")
return (run_current, hold_current, self.req_hold_current, ifs_rms)
def set_current(self, run_current, hold_current, print_time):
self.req_hold_current = hold_current
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
val = self.fields.set_field("globalscaler", gscaler)
self.mcu_tmc.set_register("GLOBALSCALER", val, print_time)
self.fields.set_field("ihold", ihold)
val = self.fields.set_field("irun", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
######################################################################
# TMC2240 printer object
######################################################################
class TMC2240:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
if config.get("uart_pin", None) is not None:
# use UART for communication
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields,
3, TMC_FREQUENCY)
else:
# Use SPI bus for communication
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
current_helper = TMC2240CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_phase_offset = cmdhelper.get_phase_offset
self.get_status = cmdhelper.get_status
# Setup basic register values
tmc.TMCWaveTableHelper(config, self.mcu_tmc)
self.fields.set_config_field(config, "offset_sin90", 0)
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field
# GCONF
set_config_field(config, "multistep_filt", True)
# CHOPCONF
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 2)
set_config_field(config, "fd3", 0)
set_config_field(config, "disfdcc", 0)
set_config_field(config, "chm", 0)
set_config_field(config, "tbl", 2)
set_config_field(config, "vhighfs", 0)
set_config_field(config, "vhighchm", 0)
set_config_field(config, "tpfd", 4)
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
set_config_field(config, "semin", 0)
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
set_config_field(config, "seimin", 0)
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# IHOLDIRUN
set_config_field(config, "iholddelay", 6)
set_config_field(config, "irundelay", 4)
# PWMCONF
set_config_field(config, "pwm_ofs", 29)
set_config_field(config, "pwm_grad", 0)
set_config_field(config, "pwm_freq", 0)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "freewheel", 0)
set_config_field(config, "pwm_reg", 4)
set_config_field(config, "pwm_lim", 12)
# TPOWERDOWN
set_config_field(config, "tpowerdown", 10)
# SG4_THRS
set_config_field(config, "sg4_angle_offset", 1)
def load_config_prefix(config):
return TMC2240(config)
Reference in New Issue View Git Blame Copy Permalink