mirror of https://github.com/Desuuuu/klipper.git
474 lines
21 KiB
Python
474 lines
21 KiB
Python
# TMC2130 configuration
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#
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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
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TMC_FREQUENCY=13200000.
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
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"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
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"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
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]
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
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"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
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"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
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"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
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"diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
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"small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
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"test_mode": 1<<17
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}
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Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
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Fields["IOIN"] = {
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"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
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"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
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Fields["TSTEP"] = { "TSTEP": 0xfffff }
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Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
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Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
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Fields["THIGH"] = { "THIGH": 0xfffff }
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Fields["MSCNT"] = { "MSCNT": 0x3ff }
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Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
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Fields["CHOPCONF"] = {
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"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
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"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
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"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
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"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
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}
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Fields["COOLCONF"] = {
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"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
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"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
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}
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
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"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
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"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
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}
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Fields["PWMCONF"] = {
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"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
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"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
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}
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Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
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Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
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SignedFields = ["CUR_A", "CUR_B", "sgt"]
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FieldFormatters = {
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"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
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"shaft": (lambda v: "1(Reverse)" if v else ""),
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"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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"VERSION": (lambda v: "%#x" % v),
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
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"ot": (lambda v: "1(OvertempError!)" if v else ""),
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"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
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"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
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"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
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"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
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}
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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class FieldHelper:
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def __init__(self, all_fields, signed_fields=[], field_formatters={},
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registers=None):
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self.all_fields = all_fields
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self.signed_fields = {sf: 1 for sf in signed_fields}
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = collections.OrderedDict()
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name, default=None):
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return self.field_to_register.get(field_name, default)
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers[reg_name]
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mask = self.all_fields[reg_name][field_name]
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field_value = (reg_value & mask) >> ffs(mask)
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if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
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field_value -= (1 << field_value.bit_length())
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return field_value
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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elif field_name in self.signed_fields:
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val = config.getint(config_name, default,
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minval=-(maxval//2 + 1), maxval=maxval//2)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, reg_value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
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fields = []
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for mask, field_name in reg_fields:
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field_value = self.get_field(field_name, reg_value, reg_name)
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sval = self.field_formatters.get(field_name, str)(field_value)
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if sval and sval != "0":
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fields.append(" %s=%s" % (field_name, sval))
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# G-Code command helpers
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######################################################################
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class TMCCommandHelper:
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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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self.query_registers = None
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self.gcode = self.printer.lookup_object("gcode")
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self.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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self.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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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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def _init_registers(self, print_time):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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self.mcu_tmc.set_register(reg_name, val, print_time)
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def _handle_connect(self):
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try:
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self._init_registers(0.)
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except self.printer.command_error as e:
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raise self.printer.config_error(str(e))
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
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def cmd_SET_TMC_FIELD(self, params):
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if 'FIELD' not in params or 'VALUE' not in params:
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raise self.gcode.error("Invalid command format")
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field_name = self.gcode.get_str('FIELD', params)
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise self.gcode.error("Unknown field name '%s'" % (field_name,))
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value = self.gcode.get_int('VALUE', params)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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# DUMP_TMC support
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def setup_register_dump(self, query_registers):
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self.query_registers = query_registers
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self.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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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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logging.info("DUMP_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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read_regs = self.query_registers(print_time)
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read_regs_by_name = { reg_name: val for reg_name, val in read_regs }
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self.gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in read_regs_by_name:
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self.gcode.respond_info(
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self.fields.pretty_format(reg_name, val))
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self.gcode.respond_info("========== Queried registers ==========")
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for reg_name, val in read_regs:
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self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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# TMC virtual endstops
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######################################################################
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# Endstop wrapper that enables "sensorless homing"
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class TMCVirtualEndstop:
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def __init__(self, mcu_tmc, mcu_endstop):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.mcu_endstop = mcu_endstop
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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self.fields.set_field("en_pwm_mode", 0)
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val = self.fields.set_field("diag1_stall", 1)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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self.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.fields.set_field("diag1_stall", 0)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.set_register("TCOOLTHRS", 0)
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self.mcu_endstop.home_finalize()
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class TMCEndstopHelper:
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def __init__(self, config, mcu_tmc, diag_pin):
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self.printer = config.get_printer()
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self.mcu_tmc = mcu_tmc
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self.diag_pin = diag_pin
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name_parts = config.get_name().split()
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ppins = self.printer.lookup_object("pins")
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ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
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def setup_pin(self, pin_type, pin_params):
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ppins = self.printer.lookup_object('pins')
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if self.diag_pin is None:
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raise ppins.error("tmc virtual endstop requires diag pin config")
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise ppins.error("tmc virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise ppins.error("Can not pullup/invert tmc virtual endstop")
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mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
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return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
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######################################################################
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# TMC stepper current config helper
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######################################################################
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MAX_CURRENT = 2.000
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class TMCCurrentHelper:
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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', 0.110, above=0.)
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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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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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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, vsense):
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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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if vsense:
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vref = 0.18
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cs = int(32. * current * 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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vsense = False
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(hold_current, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(hold_current, vsense)
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return vsense, 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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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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if self.fields.get_field("vsense"):
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vref = 0.18
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current = (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
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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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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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if vsense != self.fields.get_field("vsense"):
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val = self.fields.set_field("vsense", vsense)
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self.mcu_tmc.set_register("CHOPCONF", val, print_time)
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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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######################################################################
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# Config reading helpers
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######################################################################
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# Helper to configure and query the microstep settings
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class TMCMicrostepHelper:
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def __init__(self, config, mcu_tmc):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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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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mres = config.getchoice('microsteps', steps)
|
|
self.fields.set_field("MRES", mres)
|
|
def get_microsteps(self):
|
|
return 256 >> self.fields.get_field("MRES")
|
|
def get_phase(self):
|
|
field_name = "MSCNT"
|
|
if self.fields.lookup_register(field_name, None) is None:
|
|
# TMC2660 uses MSTEP
|
|
field_name = "MSTEP"
|
|
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
|
|
mscnt = self.fields.get_field(field_name, reg)
|
|
return mscnt >> self.fields.get_field("MRES")
|
|
|
|
# Helper to configure "stealthchop" mode
|
|
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
|
|
fields = mcu_tmc.get_fields()
|
|
en_pwm_mode = False
|
|
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
|
|
if velocity:
|
|
stepper_name = " ".join(config.get_name().split()[1:])
|
|
stepper_config = config.getsection(stepper_name)
|
|
step_dist = stepper_config.getfloat('step_distance')
|
|
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
|
|
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
|
|
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
|
|
en_pwm_mode = True
|
|
reg = fields.lookup_register("en_pwm_mode", None)
|
|
if reg is not None:
|
|
fields.set_field("en_pwm_mode", en_pwm_mode)
|
|
else:
|
|
# TMC2208 uses en_spreadCycle
|
|
fields.set_field("en_spreadCycle", not en_pwm_mode)
|
|
|
|
|
|
######################################################################
|
|
# TMC2130 SPI
|
|
######################################################################
|
|
|
|
# Helper code for working with TMC devices via SPI
|
|
class MCU_TMC_SPI:
|
|
def __init__(self, config, name_to_reg, fields):
|
|
self.printer = config.get_printer()
|
|
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
|
|
self.name_to_reg = name_to_reg
|
|
self.fields = fields
|
|
def get_fields(self):
|
|
return self.fields
|
|
def get_register(self, reg_name):
|
|
reg = self.name_to_reg[reg_name]
|
|
self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
|
|
if self.printer.get_start_args().get('debugoutput') is not None:
|
|
return 0
|
|
params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
|
|
pr = bytearray(params['response'])
|
|
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
|
|
def set_register(self, reg_name, val, print_time=0.):
|
|
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
|
|
reg = Registers[reg_name]
|
|
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
|
|
(val >> 8) & 0xff, val & 0xff]
|
|
self.spi.spi_send(data, min_clock)
|
|
|
|
|
|
######################################################################
|
|
# TMC2130 printer object
|
|
######################################################################
|
|
|
|
class TMC2130:
|
|
def __init__(self, config):
|
|
# Setup mcu communication
|
|
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters)
|
|
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
|
|
# Allow virtual endstop to be created
|
|
diag1_pin = config.get('diag1_pin', None)
|
|
TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
|
|
# Register commands
|
|
cmdhelper = TMCCommandHelper(config, self.mcu_tmc)
|
|
cmdhelper.setup_register_dump(self.query_registers)
|
|
# Setup basic register values
|
|
TMCCurrentHelper(config, self.mcu_tmc)
|
|
mh = TMCMicrostepHelper(config, self.mcu_tmc)
|
|
self.get_microsteps = mh.get_microsteps
|
|
self.get_phase = mh.get_phase
|
|
TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
|
# Allow other registers to be set from the config
|
|
set_config_field = self.fields.set_config_field
|
|
set_config_field(config, "toff", 4)
|
|
set_config_field(config, "hstrt", 0)
|
|
set_config_field(config, "hend", 7)
|
|
set_config_field(config, "TBL", 1)
|
|
set_config_field(config, "intpol", True, "interpolate")
|
|
set_config_field(config, "IHOLDDELAY", 8)
|
|
set_config_field(config, "TPOWERDOWN", 0)
|
|
set_config_field(config, "PWM_AMPL", 128)
|
|
set_config_field(config, "PWM_GRAD", 4)
|
|
set_config_field(config, "pwm_freq", 1)
|
|
set_config_field(config, "pwm_autoscale", True)
|
|
set_config_field(config, "sgt", 0)
|
|
def query_registers(self, print_time=0.):
|
|
return [(reg_name, self.mcu_tmc.get_register(reg_name))
|
|
for reg_name in ReadRegisters]
|
|
|
|
def load_config_prefix(config):
|
|
return TMC2130(config)
|