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klipper/klippy/extras/tmc5160.py

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# TMC5160 configuration
#
# Copyright (C) 2018-2019 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, tmc2130
TMC_FREQUENCY=12000000.
Registers = {
"GCONF": 0x00,
"GSTAT": 0x01,
"IFCNT": 0x02,
"SLAVECONF": 0x03,
"IOIN": 0x04,
"X_COMPARE": 0x05,
"OTP_READ": 0x07,
"FACTORY_CONF": 0x08,
"SHORT_CONF": 0x09,
"DRV_CONF": 0x0A,
"GLOBAL_SCALER": 0x0B,
"OFFSET_READ": 0x0C,
"IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11,
"TSTEP": 0x12,
"TPWMTHRS": 0x13,
"TCOOLTHRS": 0x14,
"THIGH": 0x15,
"RAMPMODE": 0x20,
"XACTUAL": 0x21,
"VACTUAL": 0x22,
"VSTART": 0x23,
"A1": 0x24,
"V1": 0x25,
"AMAX": 0x26,
"VMAX": 0x27,
"DMAX": 0x28,
"D1": 0x2A,
"VSTOP": 0x2B,
"TZEROWAIT": 0x2C,
"XTARGET": 0x2D,
"VDCMIN": 0x33,
"SW_MODE": 0x34,
"RAMP_STAT": 0x35,
"XLATCH": 0x36,
"ENCMODE": 0x38,
"X_ENC": 0x39,
"ENC_CONST": 0x3A,
"ENC_STATUS": 0x3B,
"ENC_LATCH": 0x3C,
"ENC_DEVIATION": 0x3D,
"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,
"DCCTRL": 0x6E,
"DRV_STATUS": 0x6F,
"PWMCONF": 0x70,
"PWM_SCALE": 0x71,
"PWM_AUTO": 0x72,
"LOST_STEPS": 0x73,
}
ReadRegisters = [
"GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
"LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWMCONF", "PWM_SCALE",
"PWM_AUTO", "TSTEP"
]
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": 0xFF << 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["FACTORY_CONF"] = {
"FACTORY_CONF": 0x1F << 0
}
Fields["GCONF"] = {
"recalibrate": 0x01 << 0,
"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,
"diag1_steps_skipped": 0x01 << 11,
"diag0_int_pushpull": 0x01 << 12,
"diag1_poscomp_pushpull": 0x01 << 13,
"small_hysteresis": 0x01 << 14,
"stop_enable": 0x01 << 15,
"direct_mode": 0x01 << 16,
"test_mode": 0x01 << 17
}
Fields["GSTAT"] = {
"reset": 0x01 << 0,
"drv_err": 0x01 << 1,
"uv_cp": 0x01 << 2
}
Fields["IHOLD_IRUN"] = {
"IHOLD": 0x1F << 0,
"IRUN": 0x1F << 8,
"IHOLDDELAY": 0x0F << 16
}
Fields["IOIN"] = {
"REFL_STEP": 0x01 << 0,
"REFR_DIR": 0x01 << 1,
"ENCB_DCEN_CFG4": 0x01 << 2,
"ENCA_DCIN_CFG5": 0x01 << 3,
"DRV_ENN": 0x01 << 4,
"ENC_N_DCO_CFG6": 0x01 << 5,
"SD_MODE": 0x01 << 6,
"SWCOMP_IN": 0x01 << 7,
"VERSION": 0xFF << 24
}
Fields["LOST_STEPS"] = {
"LOST_STEPS": 0xfffff << 0
}
Fields["MSCNT"] = {
"MSCNT": 0x3ff << 0
}
Fields["MSCURACT"] = {
"CUR_A": 0x1ff << 0,
"CUR_B": 0x1ff << 16
}
Fields["OTP_READ"] = {
"OTP_FCLKTRIM": 0x1f << 0,
"otp_S2_LEVEL": 0x01 << 5,
"otp_BBM": 0x01 << 6,
"otp_TBL": 0x01 << 7
}
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_REG": 0x0F << 24,
"PWM_LIM": 0x0F << 28
}
Fields["PWM_SCALE"] = {
"PWM_SCALE_SUM": 0xff << 0,
"PWM_SCALE_AUTO": 0x1ff << 16
}
Fields["TPOWERDOWN"] = {
"TPOWERDOWN": 0xff << 0
}
Fields["TPWMTHRS"] = {
"TPWMTHRS": 0xfffff << 0
}
Fields["TSTEP"] = {
"TSTEP": 0xfffff << 0
}
SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"reset": (lambda v: "1(reset)" if v else ""),
"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
})
######################################################################
# TMC stepper current config helper
######################################################################
VREF = 0.325
MAX_CURRENT = 3.000
class TMC5160CurrentHelper:
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()
run_current = config.getfloat('run_current',
above=0., maxval=MAX_CURRENT)
hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=MAX_CURRENT)
self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
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):
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, hold_current):
irun = self._calc_current_bits(run_current)
ihold = self._calc_current_bits(hold_current)
return irun, ihold
def _calc_current_from_field(self, field_name):
bits = self.fields.get_field(field_name)
current = ((bits + 1) * VREF
/ (32. * math.sqrt(2.) * self.sense_resistor))
return round(current, 2)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT)
else:
hold_current = self._calc_current_from_field("IHOLD")
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=MAX_CURRENT)
else:
run_current = self._calc_current_from_field("IRUN")
if 'HOLDCURRENT' not in params and 'CURRENT' not in params:
# Query only
gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (run_current, hold_current))
return
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
val = self.fields.set_field("IRUN", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
######################################################################
# TMC5160 printer object
######################################################################
class TMC5160:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual endstop to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# CHOPCONF
set_config_field = self.fields.set_config_field
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, "intpol", True, "interpolate")
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
set_config_field(config, "semin", 0) # page 52
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
TMC5160CurrentHelper(config, self.mcu_tmc)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)
set_config_field(config, "PWM_GRAD", 0)
set_config_field(config, "pwm_freq", 1)
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)
def load_config_prefix(config):
return TMC5160(config)
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