102 lines
3.4 KiB
Python
102 lines
3.4 KiB
Python
# TMC2209 configuration
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#
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# Copyright (C) 2019 Stephan Oelze <stephan.oelze@gmail.com>
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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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from . import tmc2208, tmc2130, tmc, tmc_uart
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TMC_FREQUENCY=12000000.
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Registers = dict(tmc2208.Registers)
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Registers.update({
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"TCOOLTHRS": 0x14,
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"COOLCONF": 0x42,
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"SGTHRS": 0x40,
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"SG_RESULT": 0x41
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})
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ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]
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Fields = dict(tmc2208.Fields)
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Fields["COOLCONF"] = {
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"semin": 0x0F << 0,
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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["IOIN"] = {
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"enn": 0x01 << 0,
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"ms1": 0x01 << 2,
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"ms2": 0x01 << 3,
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"diag": 0x01 << 4,
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"pdn_uart": 0x01 << 6,
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"step": 0x01 << 7,
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"spread_en": 0x01 << 8,
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"dir": 0x01 << 9,
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"version": 0xff << 24
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}
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Fields["SGTHRS"] = {
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"sgthrs": 0xFF << 0
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}
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Fields["SG_RESULT"] = {
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"sg_result": 0x3FF << 0
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}
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Fields["TCOOLTHRS"] = {
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"tcoolthrs": 0xfffff
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}
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FieldFormatters = dict(tmc2208.FieldFormatters)
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######################################################################
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# TMC2209 printer object
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######################################################################
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class TMC2209:
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def __init__(self, config):
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# Setup mcu communication
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self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
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FieldFormatters)
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self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3,
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TMC_FREQUENCY)
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# Setup fields for UART
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self.fields.set_field("pdn_disable", True)
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self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
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# Allow virtual pins to be created
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tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
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# Register commands
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current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
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cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
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cmdhelper.setup_register_dump(ReadRegisters)
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self.get_phase_offset = cmdhelper.get_phase_offset
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self.get_status = cmdhelper.get_status
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# Setup basic register values
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self.fields.set_field("mstep_reg_select", True)
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self.fields.set_field("multistep_filt", True)
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tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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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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# CHOPCONF
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set_config_field(config, "toff", 3)
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set_config_field(config, "hstrt", 5)
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set_config_field(config, "hend", 0)
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set_config_field(config, "tbl", 2)
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# IHOLDIRUN
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set_config_field(config, "iholddelay", 8)
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# PWMCONF
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set_config_field(config, "pwm_ofs", 36)
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set_config_field(config, "pwm_grad", 14)
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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, "pwm_autograd", True)
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set_config_field(config, "pwm_reg", 8)
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set_config_field(config, "pwm_lim", 12)
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# TPOWERDOWN
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set_config_field(config, "tpowerdown", 20)
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# SGTHRS
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set_config_field(config, "sgthrs", 0)
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def load_config_prefix(config):
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return TMC2209(config)
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