254 lines
11 KiB
Python
254 lines
11 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
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import bus
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TMC_FREQUENCY=13200000.
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GCONF_EN_PWM_MODE=1<<2
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GCONF_DIAG1_STALL=1<<8
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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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######################################################################
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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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# Decode two's complement signed integer
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def decode_signed_int(val, bits):
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if ((val >> (bits - 1)) & 1):
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return val - (1 << bits)
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return val
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class FieldHelper:
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def __init__(self, all_fields, field_formatters={}, registers=None):
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self.all_fields = all_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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return (reg_value & mask) >> ffs(mask)
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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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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, 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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fval = (value & mask) >> ffs(mask)
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sval = self.field_formatters.get(field_name, str)(fval)
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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 + ":", 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 get_config_current(config):
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vsense = False
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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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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_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 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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self.fields = FieldHelper(Fields)
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interpolate = config.getboolean('interpolate', True)
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self.mres, en_pwm, sc_threshold = get_config_stealthchop(
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config, TMC_FREQUENCY)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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minval=0, maxval=3)
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toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
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pwm_scale = config.getboolean('driver_PWM_AUTOSCALE', True)
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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', 4, minval=0, maxval=255)
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pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
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vsense, irun, ihold = get_config_current(config)
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# Configure registers
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self.reg_GCONF = en_pwm << 2
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self.set_register("GCONF", self.reg_GCONF)
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self.set_register("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.set_register("IHOLD_IRUN",
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ihold | (irun << 8) | (iholddelay << 16))
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self.set_register("TPOWERDOWN", tpowerdown)
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self.set_register("TPWMTHRS", sc_threshold)
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self.set_register("COOLCONF", sgt << 16)
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self.set_register("PWMCONF", (
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pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
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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):
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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)
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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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val = self.get_register(reg_name)
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msg = self.fields.pretty_format(reg_name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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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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# 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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gconf = self.tmc2130.reg_GCONF
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gconf &= ~GCONF_EN_PWM_MODE
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gconf |= GCONF_DIAG1_STALL
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self.tmc2130.set_register("GCONF", 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.set_register("GCONF", self.tmc2130.reg_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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