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klipper/klippy/extras/tmc2660.py

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# TMC2660 configuration
#
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import bus, tmc
Registers = {
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
"CHOPCONF": 0x8, "DRVCTRL": 0x0
}
ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
Fields = {}
Fields["DRVCTRL"] = {
"MRES": 0x0f,
"DEDGE": 0x01 << 8,
"INTPOL": 0x01 << 9,
}
Fields["CHOPCONF"] = {
"TOFF": 0x0f,
"HSTRT": 0x7 << 4,
"HEND": 0x0f << 7,
"HDEC": 0x03 << 11,
"RNDTF": 0x01 << 13,
"CHM": 0x01 << 14,
"TBL": 0x03 << 15
}
Fields["SMARTEN"] = {
"SEMIN" : 0x0f,
"SEUP": 0x03 << 5,
"SEMAX": 0x0f << 8,
"SEDN": 0x03 << 13,
"SEIMIN": 0x01 << 15
}
Fields["SGCSCONF"] = {
"CS": 0x1f,
"SGT": 0x7F << 8,
"SFILT": 0x01 << 16
}
Fields["DRVCONF"] = {
"RDSEL": 0x03 << 4,
"VSENSE": 0x01 << 6,
"SDOFF": 0x01 << 7,
"TS2G": 0x03 << 8,
"DISS2G": 0x01 << 10,
"SLPL": 0x03 << 12,
"SLPH": 0x03 << 14,
"TST": 0x01 << 16
}
Fields["READRSP@RDSEL0"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"MSTEP": 0x3ff << 10
}
Fields["READRSP@RDSEL1"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"SG@RDSEL1": 0x3ff << 10
}
Fields["READRSP@RDSEL2"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"SG@RDSEL2": 0x1f << 15,
"SE": 0x1f << 10
}
SignedFields = ["SGT"]
FieldFormatters = {
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"DEDGE": (lambda v:
"1(Both Edges Active)" if v else "0(Only Rising Edge active)"),
"INTPOL": (lambda v: "1(On)" if v else "0(Off)"),
"TOFF": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"SFILT": (lambda v: "1(Filtered mode)" if v else "0(Standard mode)"),
"VSENSE": (lambda v: "%d(%dmV)" % (v, 165 if v else 305)),
"SDOFF": (lambda v: "1(Step/Dir disabled" if v else "0(Step/dir enabled)"),
"DISS2G": (lambda v: "%d(Short to GND protection %s)" % (v,
"disabled" if v else "enabled")),
"MSTEP": (lambda v: "%d(%d, OA1 %s OA2)" % (v, v & 0xff,
"<=" if v & 0x100 else "=>")),
"SG": (lambda v: "%d(%s)" % (v, "Stall!" if v else "No Stall!")),
"OT": (lambda v: "1(Overtemp shutdown!)" if v else ""),
"OTPW": (lambda v: "1(Overtemp warning!)" if v else ""),
"S2GA": (lambda v: "1(Short to GND Coil A!)" if v else ""),
"S2GB": (lambda v: "1(Short to GND Coil B!)" if v else ""),
"OLA": (lambda v: "1(Open Load Coil A at slow speed!)" if v else ""),
"OLB": (lambda v: "1(Open Load Coil B at slow speed!)" if v else ""),
"STST": (lambda v: "1(Standstill detected!)" if v else ""),
}
######################################################################
# TMC stepper current config helper
######################################################################
MAX_CURRENT = 2.400
class TMC2660CurrentHelper:
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.current = config.getfloat('run_current', minval=0.1,
maxval=MAX_CURRENT)
self.sense_resistor = config.getfloat('sense_resistor')
vsense, cs = self._calc_current(self.current)
self.fields.set_field("CS", cs)
self.fields.set_field("VSENSE", vsense)
# Register ready/printing handlers
self.idle_current_percentage = config.getint(
'idle_current_percent', default=100, minval=0, maxval=100)
if self.idle_current_percentage < 100:
self.printer.register_event_handler("idle_timeout:printing",
self.handle_printing)
self.printer.register_event_handler("idle_timeout:ready",
self.handle_ready)
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
def _calc_current_bits(self, current, vsense):
vref = 0.165 if vsense else 0.310
cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
- 1. + .5)
return max(0, min(31, cs))
def _calc_current(self, run_current):
vsense = False
cs = self._calc_current_bits(run_current, vsense)
if cs < 16:
vsense = True
cs = self._calc_current_bits(run_current, vsense)
return vsense, cs
def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround
def handle_ready(self, print_time):
self.set_current(print_time, (float(self.idle_current_percentage)
* self.current / 100))
def set_current(self, print_time, current):
vsense, cs = self._calc_current(current)
val = self.fields.set_field("CS", cs)
self.mcu_tmc.set_register("SGCSCONF", val, print_time)
# Only update VSENSE if we need to
if vsense != self.fields.get_field("VSENSE"):
val = self.fields.set_field("VSENSE", vsense)
self.mcu_tmc.set_register("DRVCONF", val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float(
'CURRENT', params, minval=0.1, maxval=MAX_CURRENT)
self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(),
self.current)
######################################################################
# TMC2660 SPI
######################################################################
# Helper code for working with TMC2660 devices via SPI
class MCU_TMC2660_SPI:
def __init__(self, config, name_to_reg, fields):
self.printer = config.get_printer()
self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
self.name_to_reg = name_to_reg
self.fields = fields
def get_fields(self):
return self.fields
def get_register(self, reg_name):
reg = self.name_to_reg["DRVCONF"]
val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff])
pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
def set_register(self, reg_name, val, print_time=0.):
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
reg = self.name_to_reg[reg_name]
self.spi.spi_send([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff], min_clock)
######################################################################
# TMC2660 printer object
######################################################################
class TMC2660:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)
# DRVCTRL
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
set_config_field = self.fields.set_config_field
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
set_config_field(config, "TBL", 2)
set_config_field(config, "RNDTF", 0)
set_config_field(config, "HDEC", 0)
set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3)
set_config_field(config, "TOFF", 4)
if not self.fields.get_field("CHM"):
if (self.fields.get_field("HSTRT") +
self.fields.get_field("HEND")) > 15:
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
# SMARTEN
set_config_field(config, "SEIMIN", 0)
set_config_field(config, "SEDN", 0)
set_config_field(config, "SEMAX", 0)
set_config_field(config, "SEUP", 0)
set_config_field(config, "SEMIN", 0)
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
TMC2660CurrentHelper(config, self.mcu_tmc)
# 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)
def load_config_prefix(config):
return TMC2660(config)
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