mirror of https://github.com/Desuuuu/klipper.git
tmc2130: add SET_TMC_CURRENT and SET_TMC_FIELD commands (#1419)
Signed-off-by: Frank Kang <amblidex@outlook.com>
This commit is contained in:
amblidex
KevinOConnor
parent
7a344acde8
commit
0980b7e4ec
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@ -302,17 +302,16 @@ section is enabled:
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## TMC2130, TMC2660 and TMC2208
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The following command is available when the "tmc2130", "tmc2660"
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The following commands are available when the "tmc2130", "tmc2660"
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or "tmc2208" config section is enabled:
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- `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
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registers and report their values.
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- `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
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registers. Needed to re-enable the driver if power to the chip is
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turned off then back on.
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The following commands are additionally available when the "tmc2660"
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config section is enabled:
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- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<current>`: This will adjust
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the run_current of the TMC driver.
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- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
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This will adjust the run and hold currents of the TMC driver.
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HOLDCURRENT is applicable only to the tmc2130 and tmc2208.
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- `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will
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alter the value of the specified register field of the TMC driver.
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This command is intended for low-level diagnostics and debugging only because
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@ -166,12 +166,16 @@ def current_bits(current, sense_resistor, vsense_on):
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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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def bits_to_current(bits, 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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current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
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return round(current, 2)
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def calc_current_config(run_current, hold_current, sense_resistor):
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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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@ -180,6 +184,15 @@ def get_config_current(config):
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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_current(config):
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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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vsense, irun, ihold = calc_current_config(
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run_current, hold_current, sense_resistor)
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return vsense, irun, ihold, sense_resistor
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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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@ -213,16 +226,22 @@ class TMC2130:
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ppins.register_chip("tmc2130_" + self.name, self)
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# Add DUMP_TMC, INIT_TMC command
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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 basic register values
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self.regs = collections.OrderedDict()
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self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
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vsense, irun, ihold = get_config_current(config)
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vsense, irun, ihold, self.sense_resistor = get_config_current(config)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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@ -272,6 +291,42 @@ class TMC2130:
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2130 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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vsense = bool(self.fields.get_field("vsense"))
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if 'HOLDCURRENT' in params:
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hold_current = gcode.get_float(
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'HOLDCURRENT', params, above=0., maxval=2.)
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else:
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hold_current = bits_to_current(
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self.fields.get_field("IHOLD"),
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self.sense_resistor,
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vsense)
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if 'CURRENT' in params:
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run_current = gcode.get_float(
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'CURRENT', params, minval=hold_current, maxval=2.)
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else:
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run_current = bits_to_current(
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self.fields.get_field("IRUN"),
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self.sense_resistor,
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vsense)
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if 'HOLDCURRENT' in params or 'CURRENT' in params:
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print_time = self.printer.lookup_object('toolhead')\
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.get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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vsense_calc, irun, ihold = calc_current_config(run_current,
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hold_current, self.sense_resistor)
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if (vsense_calc != vsense):
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self.fields.set_field("vsense", vsense_calc)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
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else:
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gcode.respond_info(
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"Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_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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@ -291,6 +346,19 @@ class TMC2130:
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self._init_registers(min_clock)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 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[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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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.set_register(reg, self.regs[reg], min_clock)
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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@ -269,9 +269,15 @@ class TMC2208:
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self.mcu.register_config_callback(self.build_config)
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# Add DUMP_TMC, INIT_TMC command
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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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@ -282,7 +288,8 @@ class TMC2208:
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self.fields.set_field("pdn_disable", True)
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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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vsense, irun, ihold = tmc2130.get_config_current(config)
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vsense, irun, ihold, self.sense_resistor = \
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tmc2130.get_config_current(config)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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@ -351,6 +358,40 @@ class TMC2208:
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2208 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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vsense = bool(self.fields.get_field("vsense"))
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if 'HOLDCURRENT' in params:
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hold_current = gcode.get_float(
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'HOLDCURRENT', params, above=0., maxval=2.)
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else:
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hold_current = tmc2130.bits_to_current(
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self.fields.get_field("IHOLD"),
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self.sense_resistor,
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vsense)
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if 'CURRENT' in params:
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run_current = gcode.get_float(
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'CURRENT', params, minval=hold_current, maxval=2.)
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else:
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run_current = tmc2130.bits_to_current(
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self.fields.get_field("IRUN"),
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self.sense_resistor,
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vsense)
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if 'HOLDCURRENT' in params or 'CURRENT' in params:
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vsense_calc, irun, ihold = tmc2130.calc_current_config(run_current,
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hold_current, self.sense_resistor)
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self.printer.lookup_object('toolhead').wait_moves()
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if (vsense_calc != vsense):
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self.fields.set_field("vsense", vsense_calc)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"])
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"])
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else:
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gcode.respond_info(
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"Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_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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@ -377,6 +418,18 @@ class TMC2208:
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logging.info("INIT_TMC 2208 %s", self.name)
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self.printer.lookup_object('toolhead').wait_moves()
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self._init_registers()
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2208 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[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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self.printer.lookup_object('toolhead').wait_moves()
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self.set_register(reg, self.regs[reg])
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def load_config_prefix(config):
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return TMC2208(config)
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