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klipper-dgus/klippy/extras/tmc2208.py

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# TMC2208 UART communication and configuration
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
from . import tmc, tmc_uart, tmc2130
TMC_FREQUENCY=12000000.
Registers = {
"GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
"OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
"IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
"VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
"DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
}
ReadRegisters = [
"GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
"MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
"PWMCONF", "PWM_SCALE", "PWM_AUTO"
]
Fields = {}
Fields["GCONF"] = {
"I_scale_analog": 0x01,
"internal_Rsense": 0x01 << 1,
"en_spreadCycle": 0x01 << 2,
"shaft": 0x01 << 3,
"index_otpw": 0x01 << 4,
"index_step": 0x01 << 5,
"pdn_disable": 0x01 << 6,
"mstep_reg_select": 0x01 << 7,
"multistep_filt": 0x01 << 8,
"test_mode": 0x01 << 9
}
Fields["GSTAT"] = {
"reset": 0x01,
"drv_err": 0x01 << 1,
"uv_cp": 0x01 << 2
}
Fields["IFCNT"] = {
"IFCNT": 0xff
}
Fields["SLAVECONF"] = {
"SENDDELAY": 0x0f << 8
}
Fields["OTP_PROG"] = {
"OTPBIT": 0x07,
"OTPBYTE": 0x03 << 4,
"OTPMAGIC": 0xff << 8
}
Fields["OTP_READ"] = {
"OTP_FCLKTRIM": 0x1f,
"otp_OTTRIM": 0x01 << 5,
"otp_internalRsense": 0x01 << 6,
"otp_TBL": 0x01 << 7,
"OTP_PWM_GRAD": 0x0f << 8,
"otp_pwm_autograd": 0x01 << 12,
"OTP_TPWMTHRS": 0x07 << 13,
"otp_PWM_OFS": 0x01 << 16,
"otp_PWM_REG": 0x01 << 17,
"otp_PWM_FREQ": 0x01 << 18,
"OTP_IHOLDDELAY": 0x03 << 19,
"OTP_IHOLD": 0x03 << 21,
"otp_en_spreadCycle": 0x01 << 23
}
# IOIN mapping depends on the driver type (SEL_A field)
# TMC222x (SEL_A == 0)
Fields["IOIN@TMC222x"] = {
"PDN_UART": 0x01 << 1,
"SPREAD": 0x01 << 2,
"DIR": 0x01 << 3,
"ENN": 0x01 << 4,
"STEP": 0x01 << 5,
"MS1": 0x01 << 6,
"MS2": 0x01 << 7,
"SEL_A": 0x01 << 8,
"VERSION": 0xff << 24
}
# TMC220x (SEL_A == 1)
Fields["IOIN@TMC220x"] = {
"ENN": 0x01,
"MS1": 0x01 << 2,
"MS2": 0x01 << 3,
"DIAG": 0x01 << 4,
"PDN_UART": 0x01 << 6,
"STEP": 0x01 << 7,
"SEL_A": 0x01 << 8,
"DIR": 0x01 << 9,
"VERSION": 0xff << 24,
}
Fields["FACTORY_CONF"] = {
"FCLKTRIM": 0x1f,
"OTTRIM": 0x03 << 8
}
Fields["IHOLD_IRUN"] = {
"IHOLD": 0x1f,
"IRUN": 0x1f << 8,
"IHOLDDELAY": 0x0f << 16
}
Fields["TPOWERDOWN"] = {
"TPOWERDOWN": 0xff
}
Fields["TSTEP"] = {
"TSTEP": 0xfffff
}
Fields["TPWMTHRS"] = {
"TPWMTHRS": 0xfffff
}
Fields["VACTUAL"] = {
"VACTUAL": 0xffffff
}
Fields["MSCNT"] = {
"MSCNT": 0x3ff
}
Fields["MSCURACT"] = {
"CUR_A": 0x1ff,
"CUR_B": 0x1ff << 16
}
Fields["CHOPCONF"] = {
"toff": 0x0f,
"hstrt": 0x07 << 4,
"hend": 0x0f << 7,
"TBL": 0x03 << 15,
"vsense": 0x01 << 17,
"MRES": 0x0f << 24,
"intpol": 0x01 << 28,
"dedge": 0x01 << 29,
"diss2g": 0x01 << 30,
"diss2vs": 0x01 << 31
}
Fields["DRV_STATUS"] = {
"otpw": 0x01,
"ot": 0x01 << 1,
"s2ga": 0x01 << 2,
"s2gb": 0x01 << 3,
"s2vsa": 0x01 << 4,
"s2vsb": 0x01 << 5,
"ola": 0x01 << 6,
"olb": 0x01 << 7,
"t120": 0x01 << 8,
"t143": 0x01 << 9,
"t150": 0x01 << 10,
"t157": 0x01 << 11,
"CS_ACTUAL": 0x1f << 16,
"stealth": 0x01 << 30,
"stst": 0x01 << 31
}
Fields["PWMCONF"] = {
"PWM_OFS": 0xff,
"PWM_GRAD": 0xff << 8,
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
"PWM_REG": 0xf << 24,
"PWM_LIM": 0xf << 28
}
Fields["PWM_SCALE"] = {
"PWM_SCALE_SUM": 0xff,
"PWM_SCALE_AUTO": 0x1ff << 16
}
Fields["PWM_AUTO"] = {
"PWM_OFS_AUTO": 0xff,
"PWM_GRAD_AUTO": 0xff << 16
}
SignedFields = ["CUR_A", "CUR_B", "PWM_SCALE_AUTO"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
})
######################################################################
# TMC2208 printer object
######################################################################
class TMC2208:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
# Setup basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.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", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
set_config_field(config, "TBL", 2)
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 20)
set_config_field(config, "PWM_OFS", 36)
set_config_field(config, "PWM_GRAD", 14)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "PWM_REG", 8)
set_config_field(config, "PWM_LIM", 12)
def read_translate(self, reg_name, val):
if reg_name == "IOIN":
drv_type = self.fields.get_field("SEL_A", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
return reg_name, val
def load_config_prefix(config):
return TMC2208(config)
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