tmc: Add support for virtual enable pins

Add support for enabling the stepper via the communication channel.
This improves support for boards with a shared enable line.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-12 23:28:22 -04:00 committed by KevinOConnor
parent 041831f93a
commit 7702f0a027
7 changed files with 67 additions and 18 deletions

View File

@ -975,7 +975,10 @@
# Configure a TMC2130 stepper motor driver via SPI bus. To use this
# feature, define a config section with a "tmc2130" prefix followed by
# the name of the corresponding stepper config section (for example,
# "[tmc2130 stepper_x]").
# "[tmc2130 stepper_x]"). This also creates a
# "tmc2130_stepper_x:virtual_enable" virtual pin which may be used as
# the stepper's enable_pin (for enabling the driver via an SPI
# message).
#[tmc2130 stepper_x]
#cs_pin:
# The pin corresponding to the TMC2130 chip select line. This pin
@ -1038,7 +1041,10 @@
# Configure a TMC2208 (or TMC2224) stepper motor driver via single
# wire UART. To use this feature, define a config section with a
# "tmc2208" prefix followed by the name of the corresponding stepper
# config section (for example, "[tmc2208 stepper_x]").
# config section (for example, "[tmc2208 stepper_x]"). This also
# creates a "tmc2208_stepper_x:virtual_enable" virtual pin which may
# be used as the stepper's enable_pin (for enabling the driver via a
# UART message).
#[tmc2208 stepper_x]
#uart_pin:
# The pin connected to the TMC2208 PDN_UART line. This parameter
@ -1096,7 +1102,10 @@
# Configure a TMC2209 stepper motor driver via single wire UART. To
# use this feature, define a config section with a "tmc2209" prefix
# followed by the name of the corresponding stepper config section
# (for example, "[tmc2209 stepper_x]").
# (for example, "[tmc2209 stepper_x]"). This also creates a
# "tmc2209_stepper_x:virtual_enable" virtual pin which may be used as
# the stepper's enable_pin (for enabling the driver via a UART
# message).
#[tmc2209 stepper_x]
#uart_pin:
#tx_pin:
@ -1132,7 +1141,10 @@
# Configure a TMC2660 stepper motor driver via SPI bus. To use this
# feature, define a config section with a tmc2660 prefix followed by
# the name of the corresponding stepper config section (for example,
# "[tmc2660 stepper_x]").
# "[tmc2660 stepper_x]"). This also creates a
# "tmc2660_stepper_x:virtual_enable" virtual pin which may be used as
# the stepper's enable_pin (for enabling the driver via an SPI
# message).
#[tmc2660 stepper_x]
#cs_pin:
# The pin corresponding to the TMC2660 chip select line. This pin
@ -1204,7 +1216,10 @@
# Configure a TMC5160 stepper motor driver via SPI bus. To use this
# feature, define a config section with a "tmc5160" prefix followed by
# the name of the corresponding stepper config section (for example,
# "[tmc5160 stepper_x]").
# "[tmc5160 stepper_x]"). This also creates a
# "tmc5160_stepper_x:virtual_enable" virtual pin which may be used as
# the stepper's enable_pin (for enabling the driver via an SPI
# message).
#[tmc5160 stepper_x]
#cs_pin:
# The pin corresponding to the TMC5160 chip select line. This pin

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@ -155,7 +155,7 @@ class TMCCommandHelper:
######################################################################
# TMC virtual endstops
# TMC virtual pins
######################################################################
# Endstop wrapper that enables "sensorless homing"
@ -187,8 +187,30 @@ class TMCVirtualEndstop:
self.mcu_tmc.set_register("TCOOLTHRS", 0)
self.mcu_endstop.home_finalize()
class TMCEndstopHelper:
def __init__(self, config, mcu_tmc, diag_pin):
# Digital output wrapper for virtual enable
class TMCVirtualEnable:
def __init__(self, printer, mcu_tmc):
self.reactor = printer.get_reactor()
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
self.toff = self.fields.get_field("toff")
self.fields.set_field("toff", 0)
def setup_max_duration(self, max_duration):
pass
def _do_set_digital(self, print_time, value):
toff_val = 0
if value:
toff_val = self.toff
print_time -= 0.100 # Schedule slightly before deadline
val = self.fields.set_field("toff", toff_val)
reg_name = self.fields.lookup_register("toff")
self.mcu_tmc.set_register(reg_name, val, print_time)
def set_digital(self, print_time, value):
self.reactor.register_callback(
(lambda ev: self._do_set_digital(print_time, value)))
class TMCVirtualPinHelper:
def __init__(self, config, mcu_tmc, diag_pin=None):
self.printer = config.get_printer()
self.mcu_tmc = mcu_tmc
self.diag_pin = diag_pin
@ -197,12 +219,18 @@ class TMCEndstopHelper:
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
def setup_pin(self, pin_type, pin_params):
ppins = self.printer.lookup_object('pins')
if pin_params['pin'] not in ('virtual_endstop', 'virtual_enable'):
raise ppins.error("Unknown tmc virtual pin")
if pin_params['invert'] or pin_params['pullup']:
raise ppins.error("Can not pullup/invert tmc virtual pin")
if pin_params['pin'] == 'virtual_enable':
if pin_type != 'digital_out':
raise ppins.error("tmc virtual enable only useful for enable")
return TMCVirtualEnable(self.printer, self.mcu_tmc)
if self.diag_pin is None:
raise ppins.error("tmc virtual endstop requires diag pin config")
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
if pin_type != 'endstop':
raise ppins.error("tmc virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise ppins.error("Can not pullup/invert tmc virtual endstop")
mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)

View File

@ -208,9 +208,9 @@ class TMC2130:
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual endstop to be created
# Allow virtual pins to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)

View File

@ -187,6 +187,8 @@ class TMC2208:
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)

View File

@ -59,6 +59,8 @@ class TMC2209:
self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)

View File

@ -23,7 +23,7 @@ Fields["DRVCTRL"] = {
}
Fields["CHOPCONF"] = {
"TOFF": 0x0f,
"toff": 0x0f,
"HSTRT": 0x7 << 4,
"HEND": 0x0f << 7,
"HDEC": 0x03 << 11,
@ -101,7 +101,7 @@ FieldFormatters = {
"DEDGE": (lambda v:
"1(Both Edges Active)" if v else "0(Only Rising Edge active)"),
"INTPOL": (lambda v: "1(On)" if v else "0(Off)"),
"TOFF": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
"toff": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"SFILT": (lambda v: "1(Filtered mode)" if v else "0(Standard mode)"),
"VSENSE": (lambda v: "%d(%dmV)" % (v, 165 if v else 305)),
@ -242,6 +242,8 @@ class TMC2660:
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)
@ -259,7 +261,7 @@ class TMC2660:
set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3)
set_config_field(config, "TOFF", 4)
set_config_field(config, "toff", 4)
if not self.fields.get_field("CHM"):
if (self.fields.get_field("HSTRT") +
self.fields.get_field("HEND")) > 15:

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@ -291,9 +291,9 @@ class TMC5160:
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual endstop to be created
# Allow virtual pins to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)