401 lines
18 KiB
Python
401 lines
18 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, collections
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import bus
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TMC_FREQUENCY=13200000.
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
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"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
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"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
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]
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
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"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
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"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
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"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
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"diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
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"small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
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"test_mode": 1<<17
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}
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Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
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Fields["IOIN"] = {
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"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
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"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
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Fields["TSTEP"] = { "TSTEP": 0xfffff }
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Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
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Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
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Fields["THIGH"] = { "THIGH": 0xfffff }
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Fields["MSCNT"] = { "MSCNT": 0x3ff }
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Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
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Fields["CHOPCONF"] = {
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"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
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"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
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"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
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"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
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}
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Fields["COOLCONF"] = {
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"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
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"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
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}
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
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"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
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"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
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}
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Fields["PWMCONF"] = {
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"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
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"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
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}
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Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
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Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
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SignedFields = ["CUR_A", "CUR_B", "sgt"]
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FieldFormatters = {
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"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
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"shaft": (lambda v: "1(Reverse)" if v else ""),
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"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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"VERSION": (lambda v: "%#x" % v),
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
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"ot": (lambda v: "1(OvertempError!)" if v else ""),
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"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
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"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
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"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
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"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
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}
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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class FieldHelper:
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def __init__(self, all_fields, signed_fields=[], field_formatters={},
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registers=None):
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self.all_fields = all_fields
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self.signed_fields = {sf: 1 for sf in signed_fields}
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = {}
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers[reg_name]
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mask = self.all_fields[reg_name][field_name]
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field_value = (reg_value & mask) >> ffs(mask)
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if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
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field_value -= (1 << field_value.bit_length())
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return field_value
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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elif field_name in self.signed_fields:
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val = config.getint(config_name, default,
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minval=-(maxval//2 + 1), maxval=maxval//2)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, reg_value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
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fields = []
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for mask, field_name in reg_fields:
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field_value = self.get_field(field_name, reg_value, reg_name)
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sval = self.field_formatters.get(field_name, str)(field_value)
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if sval and sval != "0":
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fields.append(" %s=%s" % (field_name, sval))
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# Config reading helpers
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######################################################################
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def current_bits(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 - 1. + .5)
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return max(0, min(31, cs))
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def bits_to_current(bits, 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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current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
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return round(current, 2)
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def calc_current_config(run_current, hold_current, sense_resistor):
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vsense = False
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irun = current_bits(run_current, sense_resistor, vsense)
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ihold = 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 = current_bits(run_current, sense_resistor, vsense)
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ihold = current_bits(hold_current, sense_resistor, vsense)
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return vsense, irun, ihold
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def get_config_current(config):
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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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vsense, irun, ihold = calc_current_config(
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run_current, hold_current, sense_resistor)
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return vsense, irun, ihold, sense_resistor
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def get_config_microsteps(config):
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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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return config.getchoice('microsteps', steps)
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def get_config_stealthchop(config, tmc_freq):
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mres = get_config_microsteps(config)
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if not velocity:
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return mres, False, 0
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stepper_name = " ".join(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 << mres)
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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return mres, True, max(0, min(0xfffff, threshold))
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######################################################################
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# TMC2130 printer object
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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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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
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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 = self.printer.lookup_object("pins")
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ppins.register_chip("tmc2130_" + self.name, self)
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# Add DUMP_TMC, INIT_TMC command
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"SET_TMC_CURRENT", "STEPPER", self.name,
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self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
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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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gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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self.regs = collections.OrderedDict()
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self.fields = FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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vsense, irun, ihold, self.sense_resistor = get_config_current(config)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
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self.fields.set_field("MRES", mres)
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self.fields.set_field("en_pwm_mode", en_pwm)
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self.fields.set_field("TPWMTHRS", thresh)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 4)
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set_config_field(config, "hstrt", 0)
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set_config_field(config, "hend", 7)
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set_config_field(config, "TBL", 1)
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set_config_field(config, "intpol", True, "interpolate")
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set_config_field(config, "IHOLDDELAY", 8)
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set_config_field(config, "TPOWERDOWN", 0)
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set_config_field(config, "PWM_AMPL", 128)
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set_config_field(config, "PWM_GRAD", 4)
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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self._init_registers()
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def _init_registers(self, min_clock = 0):
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# Send registers
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val, min_clock)
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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 get_register(self, reg_name):
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reg = Registers[reg_name]
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self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
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params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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pr = bytearray(params['response'])
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return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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def set_register(self, reg_name, val, min_clock = 0):
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reg = Registers[reg_name]
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi.spi_send(data, min_clock)
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2130 driver"
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def cmd_SET_TMC_CURRENT(self, params):
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gcode = self.printer.lookup_object('gcode')
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vsense = bool(self.fields.get_field("vsense"))
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if 'HOLDCURRENT' in params:
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hold_current = gcode.get_float(
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'HOLDCURRENT', params, above=0., maxval=2.)
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else:
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hold_current = bits_to_current(
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self.fields.get_field("IHOLD"),
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self.sense_resistor,
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vsense)
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if 'CURRENT' in params:
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run_current = gcode.get_float(
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'CURRENT', params, minval=hold_current, maxval=2.)
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else:
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run_current = bits_to_current(
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self.fields.get_field("IRUN"),
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self.sense_resistor,
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vsense)
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if 'HOLDCURRENT' in params or 'CURRENT' in params:
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print_time = self.printer.lookup_object('toolhead')\
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.get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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vsense_calc, irun, ihold = calc_current_config(run_current,
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hold_current, self.sense_resistor)
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if (vsense_calc != vsense):
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self.fields.set_field("vsense", vsense_calc)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
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else:
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gcode.respond_info(
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"Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_current))
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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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gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.regs.items():
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if reg_name not in ReadRegisters:
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gcode.respond_info(self.fields.pretty_format(reg_name, val))
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gcode.respond_info("========== Queried registers ==========")
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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gcode.respond_info(self.fields.pretty_format(reg_name, val))
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2130 %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self._init_registers(min_clock)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 driver"
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def cmd_SET_TMC_FIELD(self, params):
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gcode = self.printer.lookup_object('gcode')
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if ('FIELD' not in params or
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'VALUE' not in params):
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raise gcode.error("Invalid command format")
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field = gcode.get_str('FIELD', params)
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reg = self.fields.field_to_register.get(field)
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if reg is None:
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raise gcode.error("Unknown field name '%s'" % field)
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value = gcode.get_int('VALUE', params)
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self.fields.set_field(field, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.set_register(reg, self.regs[reg], min_clock)
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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.spi.get_mcu():
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raise pins.error("tmc2130 virtual endstop must be on same mcu")
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self.en_pwm = tmc2130.fields.get_field("en_pwm_mode")
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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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self.tmc2130.fields.set_field("en_pwm_mode", 0)
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self.tmc2130.fields.set_field("diag1_stall", 1)
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self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
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self.tmc2130.set_register("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.fields.set_field("en_pwm_mode", self.en_pwm)
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self.tmc2130.fields.set_field("diag1_stall", 0)
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self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
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self.tmc2130.set_register("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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