klipper-dgus/klippy/extras/tmc2209.py

# TMC2209 configuration
#
# Copyright (C) 2019  Stephan Oelze <stephan.oelze@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
from . import tmc2208, tmc2130, tmc, tmc_uart

TMC_FREQUENCY=12000000.

Registers = dict(tmc2208.Registers)
Registers.update({
    "TCOOLTHRS":    0x14,
    "COOLCONF":     0x42,
    "SGTHRS":       0x40,
    "SG_RESULT":    0x41
})

ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]

Fields = dict(tmc2208.Fields)
Fields["COOLCONF"] = {
    "semin":        0x0F << 0,
    "seup":         0x03 << 5,
    "semax":        0x0F << 8,
    "sedn":         0x03 << 13,
    "seimin":       0x01 << 15
}
Fields["IOIN"] = {
    "enn":          0x01 << 0,
    "ms1":          0x01 << 2,
    "ms2":          0x01 << 3,
    "diag":         0x01 << 4,
    "pdn_uart":     0x01 << 6,
    "step":         0x01 << 7,
    "spread_en":    0x01 << 8,
    "dir":          0x01 << 9,
    "version":      0xff << 24
}
Fields["SGTHRS"] = {
    "sgthrs":       0xFF << 0
}
Fields["SG_RESULT"] = {
    "sg_result":    0x3FF << 0
}
Fields["TCOOLTHRS"] = {
    "tcoolthrs": 0xfffff
}

FieldFormatters = dict(tmc2208.FieldFormatters)


######################################################################
# TMC2209 printer object
######################################################################

class TMC2209:
    def __init__(self, config):
        # Setup mcu communication
        self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
                                      FieldFormatters)
        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
        # Setup fields for UART
        self.fields.set_field("pdn_disable", True)
        self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
        # Allow virtual pins to be created
        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
        # Register commands
        current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
        cmdhelper.setup_register_dump(ReadRegisters)
        self.get_phase_offset = cmdhelper.get_phase_offset
        self.get_status = cmdhelper.get_status
        # Setup basic register values
        self.fields.set_field("pdn_disable", True)
        self.fields.set_field("mstep_reg_select", True)
        self.fields.set_field("multistep_filt", True)
        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
        # Allow other registers to be set from the config
        set_config_field = self.fields.set_config_field
        set_config_field(config, "toff", 3)
        set_config_field(config, "hstrt", 5)
        set_config_field(config, "hend", 0)
        set_config_field(config, "tbl", 2)
        set_config_field(config, "iholddelay", 8)
        set_config_field(config, "tpowerdown", 20)
        set_config_field(config, "pwm_ofs", 36)
        set_config_field(config, "pwm_grad", 14)
        set_config_field(config, "pwm_freq", 1)
        set_config_field(config, "pwm_autoscale", True)
        set_config_field(config, "pwm_autograd", True)
        set_config_field(config, "pwm_reg", 8)
        set_config_field(config, "pwm_lim", 12)
        set_config_field(config, "sgthrs", 0)

def load_config_prefix(config):
    return TMC2209(config)