245 lines
10 KiB
Python
245 lines
10 KiB
Python
# TMC2208 UART communication and 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, collections
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TMC_FREQUENCY=12000000.
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GCONF_PDN_DISABLE = 1<<6
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GCONF_MSTEP_REG_SELECT = 1<<7
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GCONF_MULTISTEP_FILT = 1<<8
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
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"OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
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"IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
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"VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
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"MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
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"PWMCONF", "PWM_SCALE", "PWM_AUTO"
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]
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######################################################################
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# TMC2208 communication
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######################################################################
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# Generate a CRC8-ATM value for a bytearray
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def calc_crc8(data):
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crc = 0
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for b in data:
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for i in range(8):
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if (crc >> 7) ^ (b & 0x01):
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crc = (crc << 1) ^ 0x07
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else:
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crc = (crc << 1)
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crc &= 0xff
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b >>= 1
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return crc
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# Add serial start and stop bits to a message in a bytearray
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def add_serial_bits(data):
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out = 0
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pos = 0
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for d in data:
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b = (d << 1) | 0x200
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out |= (b << pos)
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pos += 10
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res = bytearray()
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for i in range((pos+7)//8):
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res.append((out >> (i*8)) & 0xff)
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return res
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# Generate a tmc2208 read register message
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def encode_tmc2208_read(sync, addr, reg):
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msg = bytearray([sync, addr, reg])
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msg.append(calc_crc8(msg))
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return add_serial_bits(msg)
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# Generate a tmc2208 write register message
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def encode_tmc2208_write(sync, addr, reg, val):
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msg = bytearray([sync, addr, reg, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff])
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msg.append(calc_crc8(msg))
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return add_serial_bits(msg)
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# Extract a tmc2208 read response message
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def decode_tmc2208_read(reg, data):
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# Convert data into a long integer for easy manipulation
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if len(data) != 10:
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return None
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mval = pos = 0
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for d in bytearray(data):
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mval |= d << pos
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pos += 8
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# Extract register value
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val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
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| (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
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# Verify start/stop bits and crc
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encoded_data = encode_tmc2208_write(0x05, 0xff, reg, val)
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if data != encoded_data:
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return None
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return val
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######################################################################
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# TMC2208 printer object
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######################################################################
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class TMC2208:
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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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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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# pin setup
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ppins = self.printer.lookup_object("pins")
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rx_pin_params = ppins.lookup_pin(
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config.get('uart_pin'), can_pullup=True)
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tx_pin_desc = config.get('tx_pin', None)
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if tx_pin_desc is None:
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tx_pin_params = rx_pin_params
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else:
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tx_pin_params = ppins.lookup_pin(tx_pin_desc)
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if rx_pin_params['chip'] is not tx_pin_params['chip']:
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raise ppins.error("TMC2208 rx and tx pins must be on the same mcu")
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self.mcu = rx_pin_params['chip']
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self.pullup = rx_pin_params['pullup']
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self.rx_pin = rx_pin_params['pin']
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self.tx_pin = tx_pin_params['pin']
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self.oid = self.mcu.create_oid()
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self.tmcuart_send_cmd = None
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self.mcu.register_config_callback(self.build_config)
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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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# Get config for initial driver settings
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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', 20, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 2,
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minval=0, maxval=3)
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toff = config.getint('driver_TOFF', 3, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 0, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 5, minval=0, maxval=7)
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pwm_autograd = config.getboolean('driver_PWM_AUTOGRAD', True)
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pwm_autoscale = config.getboolean('driver_PWM_AUTOSCALE', True)
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pwm_lim = config.getint('driver_PWM_LIM', 12, minval=0, maxval=15)
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pwm_reg = config.getint('driver_PWM_REG', 8, minval=0, maxval=15)
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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', 14, minval=0, maxval=255)
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pwm_ofs = config.getint('driver_PWM_OFS', 36, minval=0, maxval=255)
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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 registers
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self.ifcnt = None
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self.init_regs = collections.OrderedDict()
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self.init_regs['GCONF'] = (
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((sc_velocity == 0.) << 2) | GCONF_PDN_DISABLE
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| GCONF_MSTEP_REG_SELECT | GCONF_MULTISTEP_FILT)
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self.init_regs['CHOPCONF'] = (
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toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
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self.init_regs['IHOLD_IRUN'] = ihold | (irun << 8) | (iholddelay << 16)
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self.init_regs['TPOWERDOWN'] = tpowerdown
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self.init_regs['TPWMTHRS'] = max(0, min(0xfffff, sc_threshold))
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self.init_regs['PWMCONF'] = (
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pwm_ofs | (pwm_grad << 8) | (pwm_freq << 16)
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| (pwm_autoscale << 18) | (pwm_autograd << 19)
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| (pwm_reg << 24) | (pwm_lim << 28))
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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 build_config(self):
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bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
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self.mcu.add_config_cmd(
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"config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
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% (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
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cmd_queue = self.mcu.alloc_command_queue()
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self.tmcuart_send_cmd = self.mcu.lookup_command(
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"tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
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def handle_connect(self):
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for reg_name, val in self.init_regs.items():
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self.set_register(reg_name, val)
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def get_register(self, reg_name):
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reg = Registers[reg_name]
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msg = encode_tmc2208_read(0xf5, 0x00, reg)
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for retry in range(5):
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params = self.tmcuart_send_cmd.send_with_response(
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[self.oid, msg, 10], 'tmcuart_response', self.oid)
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val = decode_tmc2208_read(reg, params['read'])
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if val is not None:
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return val
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raise self.printer.config_error(
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"Unable to read tmc2208 '%s' register %s" % (self.name, reg_name))
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def set_register(self, reg_name, val):
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msg = encode_tmc2208_write(0xf5, 0x00, Registers[reg_name] | 0x80, val)
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if self.printer.get_start_args().get('debugoutput') is not None:
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return
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for retry in range(5):
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ifcnt = self.ifcnt
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if ifcnt is None:
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self.ifcnt = ifcnt = self.get_register("IFCNT")
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params = self.tmcuart_send_cmd.send_with_response(
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[self.oid, msg, 0], 'tmcuart_response', self.oid)
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self.ifcnt = self.get_register("IFCNT")
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if self.ifcnt == (ifcnt + 1) & 0xff:
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return
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raise self.printer.config_error(
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"Unable to write tmc2208 '%s' register %s" % (self.name, reg_name))
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def get_microsteps(self):
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return 256 >> self.mres
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def get_phase(self):
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return (self.get_register("MSCNT") & 0x3ff) >> self.mres
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver 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_TMC %s", self.name)
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for reg_name in ReadRegisters:
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try:
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val = self.get_register(reg_name)
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except self.printer.config_error as e:
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raise gcode.error(str(e))
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msg = "%-15s %08x" % (reg_name + ":", val)
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logging.info(msg)
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gcode.respond_info(msg)
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def load_config_prefix(config):
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return TMC2208(config)
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