308 lines
11 KiB
Python
308 lines
11 KiB
Python
# TMC2660 configuration
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#
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# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.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, collections, logging
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import bus, tmc2130
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def current_bits(current, sense_resistor, vsense_on):
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vsense = 0.165 if vsense_on else 0.310
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cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
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return max(0, min(cs, 31))
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def get_config_current(run_current, sense_resistor):
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vsense = False
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cs = current_bits(run_current, sense_resistor, vsense)
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if cs < 16:
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vsense = True
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cs = current_bits(run_current, sense_resistor, vsense)
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return cs, vsense
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Registers = {
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"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
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"CHOPCONF": 0x8, "DRVCTRL": 0x0
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}
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Fields = {}
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Fields["DRVCTRL"] = {
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"MRES": 0x0f,
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"DEDGE": 0x01 << 8,
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"INTPOL": 0x01 << 9,
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}
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Fields["CHOPCONF"] = {
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"TOFF": 0x0f,
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"HSTRT": 0x7 << 4,
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"HEND": 0x0f << 7,
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"HDEC": 0x03 << 11,
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"RNDTF": 0x01 << 13,
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"CHM": 0x01 << 14,
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"TBL": 0x03 << 15
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}
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Fields["SMARTEN"] = {
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"SEMIN" : 0x0f,
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"SEUP": 0x03 << 5,
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"SEMAX": 0x0f << 8,
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"SEDN": 0x03 << 13,
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"SEIMIN": 0x01 << 15
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}
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Fields["SGCSCONF"] = {
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"CS": 0x1f,
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"SGT": 0x7F << 8,
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"SFILT": 0x01 << 16
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}
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Fields["DRVCONF"] = {
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"RDSEL": 0x03 << 4,
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"VSENSE": 0x01 << 6,
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"SDOFF": 0x01 << 7,
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"TS2G": 0x03 << 8,
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"DISS2G": 0x01 << 10,
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"SLPL": 0x03 << 12,
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"SLPH": 0x03 << 14,
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"TST": 0x01 << 16
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}
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Fields["READRSP@RDSEL0"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"MSTEP": 0x3ff << 10
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}
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Fields["READRSP@RDSEL1"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"SG@RDSEL1": 0x3ff << 10
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}
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Fields["READRSP@RDSEL2"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"SG@RDSEL2": 0x1f << 15,
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"SE": 0x1f << 10
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}
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SignedFields = ["SGT"]
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FieldFormatters = {
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"DEDGE": (lambda v:
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"1(Both Edges Active)" if v else "0(Only Rising Edge active)"),
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"INTPOL": (lambda v: "1(On)" if v else "0(Off)"),
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"TOFF": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
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"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
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"SFILT": (lambda v: "1(Filtered mode)" if v else "0(Standard mode)"),
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"VSENSE": (lambda v: "%d(%dmV)" % (v, 165 if v else 305)),
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"SDOFF": (lambda v: "1(Step/Dir disabled" if v else "0(Step/dir enabled)"),
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"DISS2G": (lambda v: "%d(Short to GND protection %s)" % (v,
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"disabled" if v else "enabled")),
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"MSTEP": (lambda v: "%d(%d, OA1 %s OA2)" % (v, v & 0xff,
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"<=" if v & 0x100 else "=>")),
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"SG": (lambda v: "%d(%s)" % (v, "Stall!" if v else "No Stall!")),
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"OT": (lambda v: "1(Overtemp shutdown!)" if v else ""),
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"OTPW": (lambda v: "1(Overtemp warning!)" if v else ""),
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"S2GA": (lambda v: "1(Short to GND Coil A!)" if v else ""),
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"S2GB": (lambda v: "1(Short to GND Coil B!)" if v else ""),
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"OLA": (lambda v: "1(Open Load Coil A at slow speed!)" if v else ""),
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"OLB": (lambda v: "1(Open Load Coil B at slow speed!)" if v else ""),
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"STST": (lambda v: "1(Standstill detected!)" if v else ""),
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}
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class TMC2660:
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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, 0, default_speed=4000000)
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# Add SET_CURRENT and DUMP_TMC commands
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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 driver registers
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self.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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set_config_field = self.fields.set_config_field
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# DRVCTRL
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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.driver_mres = config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", self.driver_mres)
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set_config_field(config, "DEDGE", 0)
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set_config_field(config, "INTPOL", True, 'interpolate')
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# CHOPCONF
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set_config_field(config, "TBL", 2)
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set_config_field(config, "RNDTF", 0)
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set_config_field(config, "HDEC", 0)
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set_config_field(config, "CHM", 0)
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set_config_field(config, "HEND", 3)
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set_config_field(config, "HSTRT", 3)
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set_config_field(config, "TOFF", 4)
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if not self.fields.get_field("CHM"):
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if (self.fields.get_field("HSTRT") +
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self.fields.get_field("HEND")) > 15:
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raise config.error("driver_HEND + driver_HSTRT must be <= 15")
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# SMARTEN
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set_config_field(config, "SEIMIN", 0)
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set_config_field(config, "SEDN", 0)
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set_config_field(config, "SEMAX", 0)
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set_config_field(config, "SEUP", 0)
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set_config_field(config, "SEMIN", 0)
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# SGSCONF
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set_config_field(config, "SFILT", 1)
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set_config_field(config, "SGT", 0)
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self.current = config.getfloat('run_current', minval=0.1,
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maxval=2.4)
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self.sense_resistor = config.getfloat('sense_resistor')
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(self.driver_cs,
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self.driver_vsense) = get_config_current(self.current,
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self.sense_resistor)
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self.fields.set_field("CS", self.driver_cs)
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# DRVCONF
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set_config_field(config, "SLPH", 0)
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set_config_field(config, "SLPL", 0)
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set_config_field(config, "DISS2G", 0)
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set_config_field(config, "TS2G", 3)
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self.fields.set_field("VSENSE", self.driver_vsense)
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self.fields.set_field("RDSEL", 0) # needed for phase calculations
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self.fields.set_field("SDOFF", 0) # only step/dir mode supported
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# Init Registers
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self._init_registers(self)
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# Register ready/printing handlers
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self.idle_current_percentage = config.getint(
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'idle_current_percent', default=100, minval=0, maxval=100)
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if self.idle_current_percentage < 100:
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self.printer.register_event_handler("idle_timeout:printing",
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self.handle_printing)
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self.printer.register_event_handler("idle_timeout:ready",
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self.handle_ready)
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def _init_registers(self, min_clock=0):
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for reg_name in Registers:
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self.set_register(reg_name, self.regs[reg_name])
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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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self.spi.spi_send([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff], min_clock)
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def get_response(self):
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reg = Registers["DRVCTRL"]
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val = self.regs["DRVCTRL"]
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params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff])
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pr = bytearray(params['response'])
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return (pr[0] << 16) | (pr[1] << 8) | pr[2]
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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("MSTEP", self.get_response())
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return mscnt >> self.driver_mres
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def handle_printing(self, print_time):
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self.set_current(0., self.current) # workaround
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def handle_ready(self, print_time):
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self.set_current(print_time, (float(self.idle_current_percentage)
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* self.current / 100))
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def set_current(self, print_time, current):
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(self.driver_cs,
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self.driver_vsense) = get_config_current(current, self.sense_resistor)
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self.fields.set_field("CS", self.driver_cs)
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clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock)
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# Only update VSENSE if we need to
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if self.driver_vsense != self.fields.get_field("VSENSE"):
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self.fields.set_field("VSENSE", self.driver_vsense)
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self.set_register("DRVCONF", self.regs["DRVCONF"], min_clock=clock)
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 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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if 'CURRENT' in params:
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self.current = gcode.get_float(
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'CURRENT', params, minval=0.1, maxval=2.4)
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self.set_current(
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self.printer.lookup_object('toolhead').get_last_move_time(),
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self.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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gcode.respond_info("========== Write-only registers ==========")
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for reg_name in Registers:
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msg = self.fields.pretty_format(reg_name, self.regs[reg_name])
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gcode.respond_info(msg)
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# Send one register to get the return data
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gcode.respond_info("========== Queried registers ==========")
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return_format = "READRSP@RDSEL" + str(self.fields.get_field("RDSEL"))
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msg = self.fields.pretty_format(return_format, self.get_response())
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gcode.respond_info(msg)
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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 2660 %s", self.name)
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pt = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(pt)
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self._init_registers(min_clock)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 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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pt = self.printer.lookup_object('toolhead').get_last_move_time()
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clock = self.spi.get_mcu().print_time_to_clock(pt)
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self.set_register(reg, self.regs[reg], min_clock=clock)
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def load_config_prefix(config):
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return TMC2660(config)
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