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klipper/klippy/extras/tmc2130.py

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# TMC2130 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
from . import bus, tmc
TMC_FREQUENCY=13200000.
Registers = {
"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
}
ReadRegisters = [
"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
]
Fields = {}
Fields["GCONF"] = {
"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
"diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
"small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
"test_mode": 1<<17
}
Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
Fields["IOIN"] = {
"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
}
Fields["IHOLD_IRUN"] = {
"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
}
Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
Fields["TSTEP"] = { "TSTEP": 0xfffff }
Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
Fields["THIGH"] = { "THIGH": 0xfffff }
Fields["MSCNT"] = { "MSCNT": 0x3ff }
Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
Fields["CHOPCONF"] = {
"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
}
Fields["COOLCONF"] = {
"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
}
Fields["DRV_STATUS"] = {
"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
}
Fields["PWMCONF"] = {
"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
}
Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
SignedFields = ["CUR_A", "CUR_B", "sgt"]
FieldFormatters = {
"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" if v else ""),
"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 ""),
"VERSION": (lambda v: "%#x" % v),
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
"ot": (lambda v: "1(OvertempError!)" if v else ""),
"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
"CS_ACTUAL": (lambda v: ("%d" % v) if v else "0(Reset?)"),
}
######################################################################
# TMC stepper current config helper
######################################################################
MAX_CURRENT = 2.000
class TMCCurrentHelper:
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', 0.110, above=0.)
vsense, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
def _calc_current_bits(self, current, vsense):
sense_resistor = self.sense_resistor + 0.020
vref = 0.32
if vsense:
vref = 0.18
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vref
- 1. + .5)
return max(0, min(31, cs))
def _calc_current(self, run_current, hold_current):
vsense = False
irun = self._calc_current_bits(run_current, vsense)
ihold = self._calc_current_bits(min(hold_current, run_current),
vsense)
if irun < 16 and ihold < 16:
vsense = True
irun = self._calc_current_bits(run_current, vsense)
ihold = self._calc_current_bits(min(hold_current, run_current),
vsense)
return vsense, irun, ihold
def _calc_current_from_field(self, field_name):
bits = self.fields.get_field(field_name)
sense_resistor = self.sense_resistor + 0.020
vref = 0.32
if self.fields.get_field("vsense"):
vref = 0.18
return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
def get_current(self):
run_current = self._calc_current_from_field("IRUN")
hold_current = self._calc_current_from_field("IHOLD")
return run_current, hold_current, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
vsense, irun, ihold = self._calc_current(run_current, hold_current)
if vsense != self.fields.get_field("vsense"):
val = self.fields.set_field("vsense", vsense)
self.mcu_tmc.set_register("CHOPCONF", 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)
######################################################################
# TMC2130 SPI
######################################################################
class MCU_TMC_SPI_chain:
def __init__(self, config, chain_len=1):
self.printer = config.get_printer()
self.chain_len = chain_len
self.mutex = self.printer.get_reactor().mutex()
share = None
if chain_len > 1:
share = "tmc_spi_cs"
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000,
share_type=share)
self.taken_chain_positions = []
def _build_cmd(self, data, chain_pos):
return ([0x00] * ((self.chain_len - chain_pos) * 5) +
data + [0x00] * ((chain_pos - 1) * 5))
def reg_read(self, reg, chain_pos):
cmd = self._build_cmd([reg, 0x00, 0x00, 0x00, 0x00], chain_pos)
self.spi.spi_send(cmd)
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
params = self.spi.spi_transfer(cmd)
pr = bytearray(params['response'])
pr = pr[(self.chain_len - chain_pos) * 5 :
(self.chain_len - chain_pos + 1) * 5]
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
def reg_write(self, reg, val, chain_pos, print_time=None):
minclock = 0
if print_time is not None:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
if self.printer.get_start_args().get('debugoutput') is not None:
self.spi.spi_send(self._build_cmd(data, chain_pos), minclock)
return val
write_cmd = self._build_cmd(data, chain_pos)
dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos)
params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read,
minclock=minclock)
pr = bytearray(params['response'])
pr = pr[(self.chain_len - chain_pos) * 5 :
(self.chain_len - chain_pos + 1) * 5]
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
# Helper to setup an spi daisy chain bus from settings in a config section
def lookup_tmc_spi_chain(config):
chain_len = config.getint('chain_length', None, minval=2)
if chain_len is None:
# Simple, non daisy chained SPI connection
return MCU_TMC_SPI_chain(config, 1), 1
# Shared SPI bus - lookup existing MCU_TMC_SPI_chain
ppins = config.get_printer().lookup_object("pins")
cs_pin_params = ppins.lookup_pin(config.get('cs_pin'),
share_type="tmc_spi_cs")
tmc_spi = cs_pin_params.get('class')
if tmc_spi is None:
tmc_spi = cs_pin_params['class'] = MCU_TMC_SPI_chain(config, chain_len)
if chain_len != tmc_spi.chain_len:
raise config.error("TMC SPI chain must have same length")
chain_pos = config.getint('chain_position', minval=1, maxval=chain_len)
if chain_pos in tmc_spi.taken_chain_positions:
raise config.error("TMC SPI chain can not have duplicate position")
tmc_spi.taken_chain_positions.append(chain_pos)
return tmc_spi, chain_pos
# Helper code for working with TMC devices via SPI
class MCU_TMC_SPI:
def __init__(self, config, name_to_reg, fields):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
self.mutex = self.tmc_spi.mutex
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[reg_name]
with self.mutex:
read = self.tmc_spi.reg_read(reg, self.chain_pos)
return read
def set_register(self, reg_name, val, print_time=None):
reg = self.name_to_reg[reg_name]
with self.mutex:
for retry in range(5):
v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time)
if v == val:
return
raise self.printer.command_error(
"Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
######################################################################
# TMC2130 printer object
######################################################################
class TMC2130:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
current_helper = TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
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)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 4)
set_config_field(config, "hstrt", 0)
set_config_field(config, "hend", 7)
set_config_field(config, "TBL", 1)
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 0)
set_config_field(config, "PWM_AMPL", 128)
set_config_field(config, "PWM_GRAD", 4)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "sgt", 0)
def load_config_prefix(config):
return TMC2130(config)
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