179 lines
8.4 KiB
Python
179 lines
8.4 KiB
Python
# TMC2130 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
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TMC_FREQUENCY=13200000.
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REG_GCONF=0x00
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GCONF_EN_PWM_MODE=1<<2
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GCONF_DIAG1_STALL=1<<8
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REG_TCOOLTHRS=0x14
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REG_COOLCONF=0x6d
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REG_PWMCONF=0x70
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ReadRegisters = {
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0x00: "GCONF", 0x01: "GSTAT", 0x04: "IOIN", 0x12: "TSTEP", 0x2d: "XDIRECT",
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0x6a: "MSCNT", 0x6b: "MSCURACT", 0x6c: "CHOPCONF", 0x6f: "DRV_STATUS",
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0x71: "PWM_SCALE", 0x73: "LOST_STEPS"
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}
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class TMC2130:
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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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# pin setup
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ppins = self.printer.lookup_object("pins")
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cs_pin = config.get('cs_pin')
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cs_pin_params = ppins.lookup_pin(cs_pin)
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self.mcu = cs_pin_params['chip']
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pin = cs_pin_params['pin']
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self.oid = self.mcu.create_oid()
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# Add DUMP_TMC command
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gcode = self.printer.lookup_object("gcode")
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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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# Setup driver registers
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self.mcu.add_config_cmd(
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"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
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self.oid, 0, cs_pin_params['pin'], 3, 4000000))
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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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sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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sc_threshold = self.velocity_to_clock(config, sc_velocity)
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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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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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minval=0, maxval=3)
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toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
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pwm_scale = config.getboolean('driver_PWM_AUTOSCALE', True)
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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_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
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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.register_chip("tmc2130_" + self.name, self)
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self.spi_send_cmd = self.spi_transfer_cmd = None
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self.mcu.add_config_object(self)
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# calculate current
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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 GCONF
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self.reg_GCONF = (sc_velocity > 0.) << 2
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self.add_config_cmd(REG_GCONF, self.reg_GCONF)
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# configure CHOPCONF
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self.add_config_cmd(
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
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# configure IHOLD_IRUN
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self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
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# configure TPOWERDOWN
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self.add_config_cmd(0x11, tpowerdown)
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# configure TPWMTHRS
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self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
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# configure COOLCONF
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self.add_config_cmd(REG_COOLCONF, sgt << 16)
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# configure PWMCONF
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self.add_config_cmd(REG_PWMCONF, pwm_ampl | (pwm_grad << 8)
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| (pwm_freq << 16) | (pwm_scale << 18))
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def add_config_cmd(self, addr, val):
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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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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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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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
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return TMC2130VirtualEndstop(self)
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def build_config(self):
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cmd_queue = self.mcu.alloc_command_queue()
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self.spi_send_cmd = self.mcu.lookup_command(
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"spi_send oid=%c data=%*s", cq=cmd_queue)
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self.spi_transfer_cmd = self.mcu.lookup_command(
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"spi_transfer oid=%c data=%*s", cq=cmd_queue)
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def set_register(self, addr, val):
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data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi_send_cmd.send([self.oid, data])
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cmd_DUMP_TMC_help = "Read and display TMC2130 registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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logging.info("DUMP_TMC2130 %s", self.name)
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for reg, name in sorted(ReadRegisters.items()):
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self.spi_send_cmd.send([self.oid, [reg, 0x00, 0x00, 0x00, 0x00]])
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params = self.spi_transfer_cmd.send_with_response(
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[self.oid, [reg, 0x00, 0x00, 0x00, 0x00]],
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'spi_transfer_response', self.oid)
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pr = bytearray(params['response'])
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val = (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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msg = "%15s: %8x" % (name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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def __init__(self, tmc2130):
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self.tmc2130 = tmc2130
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if tmc2130.diag1_pin is None:
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raise pins.error("tmc2130 virtual endstop requires diag1_pin")
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ppins = tmc2130.printer.lookup_object('pins')
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self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
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if self.mcu_endstop.get_mcu() is not tmc2130.mcu:
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raise pins.error("tmc2130 virtual endstop must be on same mcu")
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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gconf = self.tmc2130.reg_GCONF
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gconf &= ~GCONF_EN_PWM_MODE
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gconf |= GCONF_DIAG1_STALL
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self.tmc2130.set_register(REG_GCONF, gconf)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0)
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self.mcu_endstop.home_finalize()
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def load_config_prefix(config):
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return TMC2130(config)
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