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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) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
from . import bus, tmc, tmc2130
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"] = {
"stallGuard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
"s2gb": 0x01 << 8,
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
"MSTEP": 0x3ff << 14
}
Fields["READRSP@RDSEL1"] = {
"stallGuard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
"s2gb": 0x01 << 8,
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
"SG_RESULT": 0x3ff << 14
}
Fields["READRSP@RDSEL2"] = {
"stallGuard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
"s2gb": 0x01 << 8,
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
"SE": 0x1f << 14,
"SG_RESULT@RDSEL2": 0x1f << 19
}
SignedFields = ["sgt"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"DEDGE": (lambda v: "1(Both Edges Active!)" if v else ""),
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"VSENSE": (lambda v: "1(165mV)" if v else "0(305mV)"),
"SDOFF": (lambda v: "1(Step/Dir disabled!)" if v else ""),
"DISS2G": (lambda v: "1(Short to GND disabled!)" if v else ""),
"SE": (lambda v: ("%d" % v) if v else "0(Reset?)"),
})
######################################################################
# 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)
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):
print_time -= 0.100 # Schedule slightly before deadline
self.printer.get_reactor().register_callback(
(lambda ev: self._update_current(self.current, print_time)))
def _handle_ready(self, print_time):
current = self.current * float(self.idle_current_percentage) / 100.
self.printer.get_reactor().register_callback(
(lambda ev: self._update_current(current, print_time)))
def _update_current(self, current, print_time):
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)
def get_current(self):
return self.current, None, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
self.current = run_current
self._update_current(run_current, print_time)
######################################################################
# 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.mutex = self.printer.get_reactor().mutex()
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):
new_rdsel = ReadRegisters.index(reg_name)
reg = self.name_to_reg["DRVCONF"]
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
with self.mutex:
old_rdsel = self.fields.get_field("RDSEL")
val = self.fields.set_field("RDSEL", new_rdsel)
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
if new_rdsel != old_rdsel:
# Must set RDSEL value first
self.spi.spi_send(msg)
params = self.spi.spi_transfer(msg)
pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
def set_register(self, reg_name, val, print_time=None):
minclock = 0
if print_time is not None:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
reg = self.name_to_reg[reg_name]
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
self.spi.spi_send(msg, minclock)
######################################################################
# 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
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
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
# CHOPCONF
set_config_field = self.fields.set_config_field
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", 0)
set_config_field(config, "sgt", 0)
# 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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