From 680c92de40dcb37a8ef42ee3a091aa809eb23df9 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 17 Feb 2018 23:34:41 -0500 Subject: [PATCH] tmc2130: Add initial support for TMC2130 stepper motor drivers Signed-off-by: Kevin O'Connor --- config/example-extras.cfg | 38 +++++++++++++++++++++ klippy/extras/tmc2130.py | 70 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 108 insertions(+) create mode 100644 klippy/extras/tmc2130.py diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 5da4293a..82fdfd9d 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -402,6 +402,44 @@ # default is to not scale the 'channel_x' parameters. +# Configure a TMC2130 stepper motor driver (one may define any number +# of sections with a "tmc2130" prefix). +#[tmc2130 my_name] +#cs_pin: +# The pin corresponding to the TMC2130 chip select line. This pin +# will be set to low at the start of SPI messages and raised to high +# after the message completes. This parameter must be provided. +#microsteps: +# The number of microsteps to configure the driver to use. Valid +# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must +# be provided. +#interpolate: True +# If true, enable TMC2130 step interpolation (the driver will +# interally step at a rate of 256 micro-steps). The default is True. +#run_current: +# The amount of current (in amps) to configure the driver to use +# during stepper movement. This parameter must be provided. +#hold_current: +# The amount of current (in amps) to configure the driver to use +# when the stepper is not moving. The default is to use the same +# value as run_current. +#sense_resistor: 0.110 +# The resistance (in ohms) of the motor sense resistor. The default +# is 0.110 ohms. +#stealthchop: False +# Enable "stealthChop" mode. The default is False. +#driver_IHOLDDELAY: 8 +#driver_TPOWERDOWN: 0 +#driver_BLANK_TIME_SELECT: 1 +#driver_TOFF: 1 +#driver_HEND: 7 +#driver_HSTRT: 0 +# Set the given register during the configuration of the TMC2130 +# chip. This may be used to set custom motor parameters. The +# defaults for each parameter are next to the parameter name in the +# above list. + + # Homing override. One may use this mechanism to run a series of # g-code commands in place of a G28 found in the normal g-code input. # This may be useful on printers that require a specific procedure to diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py new file mode 100644 index 00000000..72d1faf1 --- /dev/null +++ b/klippy/extras/tmc2130.py @@ -0,0 +1,70 @@ +# TMC2130 configuration +# +# Copyright (C) 2018 Kevin O'Connor +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import math + +class tmc2130: + def __init__(self, config): + printer = config.get_printer() + # pin setup + ppins = printer.lookup_object("pins") + cs_pin = config.get('cs_pin') + cs_pin_params = ppins.lookup_pin('digital_out', cs_pin) + if cs_pin_params['invert']: + raise pins.error("tmc2130 can not invert pin") + self.mcu = cs_pin_params['chip'] + pin = cs_pin_params['pin'] + self.oid = self.mcu.create_oid() + self.mcu.add_config_cmd( + "config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % ( + self.oid, 0, cs_pin_params['pin'], 3, 3600000)) + run_current = config.getfloat('run_current', above=0., maxval=2.) + hold_current = config.getfloat('hold_current', run_current, + above=0., maxval=2.) + sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) + steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, + '8': 5, '4': 6, '2': 7, '1': 8} + microsteps = config.getchoice('microsteps', steps) + interpolate = config.getboolean('interpolate', True) + stealthchop = config.getboolean('stealthchop', False) + iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15) + tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255) + blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1, + minval=0, maxval=3) + toff = config.getint('driver_TOFF', 1, minval=1, maxval=15) + hend = config.getint('driver_HEND', 7, minval=0, maxval=15) + hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7) + # calculate current + vsense = False + irun = self.current_bits(run_current, sense_resistor, vsense) + ihold = self.current_bits(hold_current, sense_resistor, vsense) + if irun < 16 and ihold < 16: + vsense = True + irun = self.current_bits(run_current, sense_resistor, vsense) + ihold = self.current_bits(hold_current, sense_resistor, vsense) + # configure GCONF + self.add_config_cmd(0x00, stealthchop << 2) + # configure CHOPCONF + self.add_config_cmd( + 0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15) + | (vsense << 17) | (microsteps << 24) | (interpolate << 28)) + # configure IHOLD_IRUN + self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16)) + # configure TPOWERDOWN + self.add_config_cmd(0x11, tpowerdown) + def add_config_cmd(self, addr, val): + self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % ( + self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True) + def current_bits(self, current, sense_resistor, vsense_on): + sense_resistor += 0.020 + vsense = 0.32 + if vsense_on: + vsense = 0.18 + cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense + - 1. + .5) + return max(0, min(31, cs)) + +def load_config_prefix(config): + return tmc2130(config)