mirror of https://github.com/Desuuuu/klipper.git
tmc5160: Move current setting code to its own helper class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
110bbb3843
commit
b2729f38a6
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@ -1,13 +1,11 @@
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# TMC5160 configuration
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, collections
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import bus, tmc2130
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vsense = 0.325
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GLOBAL_SCALER = 256
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TMC_FREQUENCY=12000000.
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Registers = {
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@ -220,31 +218,69 @@ FieldFormatters.update({
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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})
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######################################################################
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# Config reading helpers
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# TMC stepper current config helper
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######################################################################
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def bits_to_current(bits, sense_resistor, vsense_on):
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#current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
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current = (bits + 1) * (GLOBAL_SCALER *vsense) \
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/ (32*GLOBAL_SCALER*math.sqrt(2.)*sense_resistor)
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return round(current, 2)
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VREF = 0.325
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MAX_CURRENT = 3.000
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def calc_current_config(run_current, hold_current, sense_resistor):
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irun = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * run_current * \
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sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
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ihold = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * hold_current * \
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sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
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return irun, ihold
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class TMC5160CurrentHelper:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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run_current = config.getfloat('run_current',
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above=0., maxval=MAX_CURRENT)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=MAX_CURRENT)
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self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
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irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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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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def _calc_current_bits(self, current):
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cs = int(32. * current * self.sense_resistor * math.sqrt(2.) / VREF
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- 1. + .5)
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return max(0, min(31, cs))
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def _calc_current(self, run_current, hold_current):
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irun = self._calc_current_bits(run_current)
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ihold = self._calc_current_bits(hold_current)
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return irun, ihold
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def _calc_current_from_field(self, field_name):
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bits = self.fields.get_field(field_name)
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current = ((bits + 1) * VREF
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/ (32. * math.sqrt(2.) * self.sense_resistor))
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return round(current, 2)
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC 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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if 'HOLDCURRENT' in params:
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hold_current = gcode.get_float(
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'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT)
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else:
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hold_current = self._calc_current_from_field("IHOLD")
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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=MAX_CURRENT)
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else:
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run_current = self._calc_current_from_field("IRUN")
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if 'HOLDCURRENT' not in params and 'CURRENT' not in params:
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# Query only
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gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_current))
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return
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("IHOLD", ihold)
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val = self.fields.set_field("IRUN", irun)
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self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
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def get_config_current(config):
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run_current = config.getfloat('run_current', above=0., maxval=3.)
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hold_current = config.getfloat('hold_current', run_current, above=0.,\
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maxval=3.)
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sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
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irun, ihold = calc_current_config(run_current, hold_current,\
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sense_resistor)
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return irun, ihold, sense_resistor
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######################################################################
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# TMC5160 printer object
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@ -255,9 +291,7 @@ class TMC5160:
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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# Setup mcu communication
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self.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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@ -268,12 +302,7 @@ class TMC5160:
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# Register commands
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cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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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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# Setup basic register values
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irun, ihold, self.sense_resistor = get_config_current(config)
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msteps, en_pwm, thresh = \
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tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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set_config_field = self.fields.set_config_field
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@ -304,8 +333,7 @@ class TMC5160:
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# GCONF
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self.fields.set_field("en_pwm_mode", en_pwm)
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# IHOLDIRUN
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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TMC5160CurrentHelper(config, self.mcu_tmc)
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set_config_field(config, "IHOLDDELAY", 6)
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# PWMCONF
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set_config_field(config, "PWM_OFS", 30)
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@ -334,39 +362,6 @@ class TMC5160:
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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 TMC5160 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 = True
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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=3.)
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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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irun, ihold = calc_current_config(run_current,
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hold_current, self.sense_resistor)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time)
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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"], print_time)
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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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def load_config_prefix(config):
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return TMC5160(config)
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