klipper-dgus/klippy/extras/tmc5160.py

# TMC5160 configuration
#
# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import bus, tmc, tmc2130

TMC_FREQUENCY=12000000.

Registers = {
    "GCONF":            0x00,
    "GSTAT":            0x01,
    "IFCNT":            0x02,
    "SLAVECONF":        0x03,
    "IOIN":             0x04,
    "X_COMPARE":        0x05,
    "OTP_READ":         0x07,
    "FACTORY_CONF":     0x08,
    "SHORT_CONF":       0x09,
    "DRV_CONF":         0x0A,
    "GLOBAL_SCALER":    0x0B,
    "OFFSET_READ":      0x0C,
    "IHOLD_IRUN":       0x10,
    "TPOWERDOWN":       0x11,
    "TSTEP":            0x12,
    "TPWMTHRS":         0x13,
    "TCOOLTHRS":        0x14,
    "THIGH":            0x15,
    "RAMPMODE":         0x20,
    "XACTUAL":          0x21,
    "VACTUAL":          0x22,
    "VSTART":           0x23,
    "A1":               0x24,
    "V1":               0x25,
    "AMAX":             0x26,
    "VMAX":             0x27,
    "DMAX":             0x28,
    "D1":               0x2A,
    "VSTOP":            0x2B,
    "TZEROWAIT":        0x2C,
    "XTARGET":          0x2D,
    "VDCMIN":           0x33,
    "SW_MODE":          0x34,
    "RAMP_STAT":        0x35,
    "XLATCH":           0x36,
    "ENCMODE":          0x38,
    "X_ENC":            0x39,
    "ENC_CONST":        0x3A,
    "ENC_STATUS":       0x3B,
    "ENC_LATCH":        0x3C,
    "ENC_DEVIATION":    0x3D,
    "MSLUT0":           0x60,
    "MSLUT1":           0x61,
    "MSLUT2":           0x62,
    "MSLUT3":           0x63,
    "MSLUT4":           0x64,
    "MSLUT5":           0x65,
    "MSLUT6":           0x66,
    "MSLUT7":           0x67,
    "MSLUTSEL":         0x68,
    "MSLUTSTART":       0x69,
    "MSCNT":            0x6A,
    "MSCURACT":         0x6B,
    "CHOPCONF":         0x6C,
    "COOLCONF":         0x6D,
    "DCCTRL":           0x6E,
    "DRV_STATUS":       0x6F,
    "PWMCONF":          0x70,
    "PWM_SCALE":        0x71,
    "PWM_AUTO":         0x72,
    "LOST_STEPS":       0x73,
}

ReadRegisters = [
    "GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
    "LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWMCONF", "PWM_SCALE",
    "PWM_AUTO", "TSTEP"
]

Fields = {}
Fields["COOLCONF"] = {
    "semin":                    0x0F << 0,
    "seup":                     0x03 << 5,
    "semax":                    0x0F << 8,
    "sedn":                     0x03 << 13,
    "seimin":                   0x01 << 15,
    "sgt":                      0x7F << 16,
    "sfilt":                    0x01 << 24
}
Fields["CHOPCONF"] = {
    "toff":                     0x0F << 0,
    "hstrt":                    0x07 << 4,
    "hend":                     0x0F << 7,
    "fd3":                      0x01 << 11,
    "disfdcc":                  0x01 << 12,
    "chm":                      0x01 << 14,
    "tbl":                      0x03 << 15,
    "vhighfs":                  0x01 << 18,
    "vhighchm":                 0x01 << 19,
    "tpfd":                     0x0F << 20, # midrange resonances
    "MRES":                     0x0F << 24,
    "intpol":                   0x01 << 28,
    "dedge":                    0x01 << 29,
    "diss2g":                   0x01 << 30,
    "diss2vs":                  0x01 << 31
}
Fields["DRV_STATUS"] = {
    "SG_RESULT":                0x3FF << 0,
    "s2vsa":                    0x01 << 12,
    "s2vsb":                    0x01 << 13,
    "stealth":                  0x01 << 14,
    "fsactive":                 0x01 << 15,
    "CSACTUAL":                 0xFF << 16,
    "stallGuard":               0x01 << 24,
    "ot":                       0x01 << 25,
    "otpw":                     0x01 << 26,
    "s2ga":                     0x01 << 27,
    "s2gb":                     0x01 << 28,
    "ola":                      0x01 << 29,
    "olb":                      0x01 << 30,
    "stst":                     0x01 << 31
}
Fields["FACTORY_CONF"] = {
    "FACTORY_CONF":             0x1F << 0
}
Fields["GCONF"] = {
    "recalibrate":              0x01 << 0,
    "faststandstill":           0x01 << 1,
    "en_pwm_mode":              0x01 << 2,
    "multistep_filt":           0x01 << 3,
    "shaft":                    0x01 << 4,
    "diag0_error":              0x01 << 5,
    "diag0_otpw":               0x01 << 6,
    "diag0_stall":              0x01 << 7,
    "diag1_stall":              0x01 << 8,
    "diag1_index":              0x01 << 9,
    "diag1_onstate":            0x01 << 10,
    "diag1_steps_skipped":      0x01 << 11,
    "diag0_int_pushpull":       0x01 << 12,
    "diag1_poscomp_pushpull":   0x01 << 13,
    "small_hysteresis":         0x01 << 14,
    "stop_enable":              0x01 << 15,
    "direct_mode":              0x01 << 16,
    "test_mode":                0x01 << 17
}
Fields["GSTAT"] = {
    "reset":                    0x01 << 0,
    "drv_err":                  0x01 << 1,
    "uv_cp":                    0x01 << 2
}
Fields["IHOLD_IRUN"] = {
    "IHOLD":                    0x1F << 0,
    "IRUN":                     0x1F << 8,
    "IHOLDDELAY":               0x0F << 16
}
Fields["IOIN"] = {
    "REFL_STEP":                0x01 << 0,
    "REFR_DIR":                 0x01 << 1,
    "ENCB_DCEN_CFG4":           0x01 << 2,
    "ENCA_DCIN_CFG5":           0x01 << 3,
    "DRV_ENN":                  0x01 << 4,
    "ENC_N_DCO_CFG6":           0x01 << 5,
    "SD_MODE":                  0x01 << 6,
    "SWCOMP_IN":                0x01 << 7,
    "VERSION":                  0xFF << 24
}
Fields["LOST_STEPS"] = {
    "LOST_STEPS":               0xfffff << 0
}
Fields["MSCNT"] = {
    "MSCNT":                    0x3ff << 0
}
Fields["MSCURACT"] = {
    "CUR_A":                    0x1ff << 0,
    "CUR_B":                    0x1ff << 16
}
Fields["OTP_READ"] = {
    "OTP_FCLKTRIM":             0x1f << 0,
    "otp_S2_LEVEL":             0x01 << 5,
    "otp_BBM":                  0x01 << 6,
    "otp_TBL":                  0x01 << 7
}
Fields["PWM_AUTO"] = {
    "PWM_OFS_AUTO":             0xff << 0,
    "PWM_GRAD_AUTO":            0xff << 16
}
Fields["PWMCONF"] = {
    "PWM_OFS":                  0xFF << 0,
    "PWM_GRAD":                 0xFF << 8,
    "pwm_freq":                 0x03 << 16,
    "pwm_autoscale":            0x01 << 18,
    "pwm_autograd":             0x01 << 19,
    "freewheel":                0x03 << 20,
    "PWM_REG":                  0x0F << 24,
    "PWM_LIM":                  0x0F << 28
}
Fields["PWM_SCALE"] = {
    "PWM_SCALE_SUM":            0xff << 0,
    "PWM_SCALE_AUTO":           0x1ff << 16
}
Fields["TPOWERDOWN"] = {
    "TPOWERDOWN":               0xff << 0
}
Fields["TPWMTHRS"] = {
    "TPWMTHRS":                 0xfffff << 0
}
Fields["TSTEP"] = {
    "TSTEP":                    0xfffff << 0
}

SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]

FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
    "reset":            (lambda v: "1(reset)" if v else ""),
    "drv_err":          (lambda v: "1(ErrorShutdown!)" if v else ""),
    "uv_cp":            (lambda v: "1(Undervoltage!)" if v else ""),
})


######################################################################
# TMC stepper current config helper
######################################################################

VREF = 0.325
MAX_CURRENT = 3.000

class TMC5160CurrentHelper:
    def __init__(self, config, mcu_tmc):
        self.printer = config.get_printer()
        self.name = config.get_name().split()[-1]
        self.mcu_tmc = mcu_tmc
        self.fields = mcu_tmc.get_fields()
        run_current = config.getfloat('run_current',
                                      above=0., maxval=MAX_CURRENT)
        hold_current = config.getfloat('hold_current', run_current,
                                       above=0., maxval=MAX_CURRENT)
        self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
        irun, ihold = self._calc_current(run_current, hold_current)
        self.fields.set_field("IHOLD", ihold)
        self.fields.set_field("IRUN", irun)
        gcode = self.printer.lookup_object("gcode")
        gcode.register_mux_command(
            "SET_TMC_CURRENT", "STEPPER", self.name,
            self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
    def _calc_current_bits(self, current):
        cs = int(32. * current * self.sense_resistor * math.sqrt(2.) / VREF
                 - 1. + .5)
        return max(0, min(31, cs))
    def _calc_current(self, run_current, hold_current):
        irun = self._calc_current_bits(run_current)
        ihold = self._calc_current_bits(hold_current)
        return irun, ihold
    def _calc_current_from_field(self, field_name):
        bits = self.fields.get_field(field_name)
        current = ((bits + 1) * VREF
                   / (32. * math.sqrt(2.) * self.sense_resistor))
        return round(current, 2)
    cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
    def cmd_SET_TMC_CURRENT(self, params):
        gcode = self.printer.lookup_object('gcode')
        if 'HOLDCURRENT' in params:
            hold_current = gcode.get_float(
                'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT)
        else:
            hold_current = self._calc_current_from_field("IHOLD")
        if 'CURRENT' in params:
            run_current = gcode.get_float(
                'CURRENT', params, minval=hold_current, maxval=MAX_CURRENT)
        else:
            run_current = self._calc_current_from_field("IRUN")
        if 'HOLDCURRENT' not in params and 'CURRENT' not in params:
            # Query only
            gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
                               % (run_current, hold_current))
            return
        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
        irun, ihold = self._calc_current(run_current, hold_current)
        self.fields.set_field("IHOLD", ihold)
        val = self.fields.set_field("IRUN", irun)
        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)


######################################################################
# TMC5160 printer object
######################################################################

class TMC5160:
    def __init__(self, config):
        # Setup mcu communication
        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
        # Allow virtual pins to be created
        diag1_pin = config.get('diag1_pin', None)
        tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin)
        # Register commands
        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
        cmdhelper.setup_register_dump(ReadRegisters)
        # Setup basic register values
        mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
        self.get_microsteps = mh.get_microsteps
        self.get_phase = mh.get_phase
        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
        #   CHOPCONF
        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", 2)
        set_config_field(config, "fd3", 0)
        set_config_field(config, "disfdcc", 0)
        set_config_field(config, "chm", 0)
        set_config_field(config, "tbl", 2)
        set_config_field(config, "vhighfs", 0)
        set_config_field(config, "vhighchm", 0)
        set_config_field(config, "tpfd", 4)
        set_config_field(config, "diss2g", 0)
        set_config_field(config, "diss2vs", 0)
        #   COOLCONF
        set_config_field(config, "semin", 0)    # page 52
        set_config_field(config, "seup", 0)
        set_config_field(config, "semax", 0)
        set_config_field(config, "sedn", 0)
        set_config_field(config, "seimin", 0)
        set_config_field(config, "sgt", 0)
        set_config_field(config, "sfilt", 0)
        #   IHOLDIRUN
        TMC5160CurrentHelper(config, self.mcu_tmc)
        set_config_field(config, "IHOLDDELAY", 6)
        #   PWMCONF
        set_config_field(config, "PWM_OFS", 30)
        set_config_field(config, "PWM_GRAD", 0)
        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, "freewheel", 0)
        set_config_field(config, "PWM_REG", 4)
        set_config_field(config, "PWM_LIM", 12)
        #   TPOWERDOWN
        set_config_field(config, "TPOWERDOWN", 10)

def load_config_prefix(config):
    return TMC5160(config)