mirror of https://github.com/Desuuuu/klipper.git
242 lines
10 KiB
Python
242 lines
10 KiB
Python
# TMC2208 UART communication and configuration
|
|
#
|
|
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import math, logging, collections
|
|
|
|
TMC_FREQUENCY=12000000.
|
|
GCONF_PDN_DISABLE = 1<<6
|
|
GCONF_MSTEP_REG_SELECT = 1<<7
|
|
GCONF_MULTISTEP_FILT = 1<<8
|
|
|
|
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"
|
|
]
|
|
|
|
|
|
######################################################################
|
|
# TMC2208 communication
|
|
######################################################################
|
|
|
|
# Generate a CRC8-ATM value for a bytearray
|
|
def calc_crc8(data):
|
|
crc = 0
|
|
for b in data:
|
|
for i in range(8):
|
|
if (crc >> 7) ^ (b & 0x01):
|
|
crc = (crc << 1) ^ 0x07
|
|
else:
|
|
crc = (crc << 1)
|
|
crc &= 0xff
|
|
b >>= 1
|
|
return crc
|
|
|
|
# Add serial start and stop bits to a message in a bytearray
|
|
def add_serial_bits(data):
|
|
out = 0
|
|
pos = 0
|
|
for d in data:
|
|
b = (d << 1) | 0x200
|
|
out |= (b << pos)
|
|
pos += 10
|
|
res = bytearray()
|
|
for i in range((pos+7)//8):
|
|
res.append((out >> (i*8)) & 0xff)
|
|
return res
|
|
|
|
# Generate a tmc2208 read register message
|
|
def encode_tmc2208_read(sync, addr, reg):
|
|
msg = bytearray([sync, addr, reg])
|
|
msg.append(calc_crc8(msg))
|
|
return add_serial_bits(msg)
|
|
|
|
# Generate a tmc2208 write register message
|
|
def encode_tmc2208_write(sync, addr, reg, val):
|
|
msg = bytearray([sync, addr, reg, (val >> 24) & 0xff, (val >> 16) & 0xff,
|
|
(val >> 8) & 0xff, val & 0xff])
|
|
msg.append(calc_crc8(msg))
|
|
return add_serial_bits(msg)
|
|
|
|
# Extract a tmc2208 read response message
|
|
def decode_tmc2208_read(reg, data):
|
|
# Convert data into a long integer for easy manipulation
|
|
if len(data) != 10:
|
|
return None
|
|
mval = pos = 0
|
|
for d in bytearray(data):
|
|
mval |= d << pos
|
|
pos += 8
|
|
# Extract register value
|
|
val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
|
|
| (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
|
|
# Verify start/stop bits and crc
|
|
encoded_data = encode_tmc2208_write(0x05, 0xff, reg, val)
|
|
if data != encoded_data:
|
|
return None
|
|
return val
|
|
|
|
|
|
######################################################################
|
|
# TMC2208 printer object
|
|
######################################################################
|
|
|
|
class TMC2208:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.name = config.get_name().split()[1]
|
|
# pin setup
|
|
ppins = self.printer.lookup_object("pins")
|
|
rx_pin_params = ppins.lookup_pin(
|
|
config.get('uart_pin'), can_pullup=True)
|
|
tx_pin_desc = config.get('tx_pin', None)
|
|
if tx_pin_desc is None:
|
|
tx_pin_params = rx_pin_params
|
|
else:
|
|
tx_pin_params = ppins.lookup_pin(tx_pin_desc)
|
|
if rx_pin_params['chip'] is not tx_pin_params['chip']:
|
|
raise pins.error("TMC2208 rx and tx pins must be on the same mcu")
|
|
self.mcu = rx_pin_params['chip']
|
|
self.pullup = rx_pin_params['pullup']
|
|
self.rx_pin = rx_pin_params['pin']
|
|
self.tx_pin = tx_pin_params['pin']
|
|
self.oid = self.mcu.create_oid()
|
|
self.tmcuart_send_cmd = None
|
|
self.mcu.register_config_callback(self.build_config)
|
|
# Add DUMP_TMC command
|
|
gcode = self.printer.lookup_object("gcode")
|
|
gcode.register_mux_command(
|
|
"DUMP_TMC", "STEPPER", self.name,
|
|
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
|
|
# Get config for initial driver settings
|
|
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}
|
|
self.mres = config.getchoice('microsteps', steps)
|
|
interpolate = config.getboolean('interpolate', True)
|
|
sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
|
|
sc_threshold = self.velocity_to_clock(config, sc_velocity)
|
|
iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
|
|
tpowerdown = config.getint('driver_TPOWERDOWN', 20, minval=0, maxval=255)
|
|
blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 2,
|
|
minval=0, maxval=3)
|
|
toff = config.getint('driver_TOFF', 3, minval=1, maxval=15)
|
|
hend = config.getint('driver_HEND', 0, minval=0, maxval=15)
|
|
hstrt = config.getint('driver_HSTRT', 5, minval=0, maxval=7)
|
|
pwm_autograd = config.getboolean('driver_PWM_AUTOGRAD', True)
|
|
pwm_autoscale = config.getboolean('driver_PWM_AUTOSCALE', True)
|
|
pwm_lim = config.getint('driver_PWM_LIM', 12, minval=0, maxval=15)
|
|
pwm_reg = config.getint('driver_PWM_REG', 8, minval=0, maxval=15)
|
|
pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
|
|
pwm_grad = config.getint('driver_PWM_GRAD', 14, minval=0, maxval=255)
|
|
pwm_ofs = config.getint('driver_PWM_OFS', 36, minval=0, maxval=255)
|
|
# 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 registers
|
|
self.ifcnt = None
|
|
self.init_regs = collections.OrderedDict()
|
|
self.init_regs['GCONF'] = (
|
|
((sc_velocity == 0.) << 2) | GCONF_PDN_DISABLE
|
|
| GCONF_MSTEP_REG_SELECT | GCONF_MULTISTEP_FILT)
|
|
self.init_regs['CHOPCONF'] = (
|
|
toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
|
|
| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
|
|
self.init_regs['IHOLD_IRUN'] = ihold | (irun << 8) | (iholddelay << 16)
|
|
self.init_regs['TPOWERDOWN'] = tpowerdown
|
|
self.init_regs['TPWMTHRS'] = max(0, min(0xfffff, sc_threshold))
|
|
self.init_regs['PWMCONF'] = (
|
|
pwm_ofs | (pwm_grad << 8) | (pwm_freq << 16)
|
|
| (pwm_autoscale << 18) | (pwm_autograd << 19)
|
|
| (pwm_reg << 24) | (pwm_lim << 28))
|
|
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 velocity_to_clock(self, config, velocity):
|
|
if not velocity:
|
|
return 0
|
|
stepper_name = config.get_name().split()[1]
|
|
stepper_config = config.getsection(stepper_name)
|
|
step_dist = stepper_config.getfloat('step_distance')
|
|
step_dist_256 = step_dist / (1 << self.mres)
|
|
return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
|
|
def build_config(self):
|
|
bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
|
|
self.mcu.add_config_cmd(
|
|
"config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
|
|
% (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
|
|
cmd_queue = self.mcu.alloc_command_queue()
|
|
self.tmcuart_send_cmd = self.mcu.lookup_command(
|
|
"tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
|
|
def printer_state(self, state):
|
|
if state == 'connect':
|
|
for reg_name, val in self.init_regs.items():
|
|
self.set_register(reg_name, val)
|
|
def get_register(self, reg_name):
|
|
reg = Registers[reg_name]
|
|
msg = encode_tmc2208_read(0xf5, 0x00, reg)
|
|
for retry in range(5):
|
|
params = self.tmcuart_send_cmd.send_with_response(
|
|
[self.oid, msg, 10], 'tmcuart_response', self.oid)
|
|
val = decode_tmc2208_read(reg, params['read'])
|
|
if val is not None:
|
|
return val
|
|
raise self.printer.config_error(
|
|
"Unable to read tmc2208 '%s' register %s" % (self.name, reg_name))
|
|
def set_register(self, reg_name, val):
|
|
msg = encode_tmc2208_write(0xf5, 0x00, Registers[reg_name] | 0x80, val)
|
|
for retry in range(5):
|
|
ifcnt = self.ifcnt
|
|
if ifcnt is None:
|
|
self.ifcnt = ifcnt = self.get_register("IFCNT")
|
|
params = self.tmcuart_send_cmd.send_with_response(
|
|
[self.oid, msg, 0], 'tmcuart_response', self.oid)
|
|
self.ifcnt = self.get_register("IFCNT")
|
|
if self.ifcnt == (ifcnt + 1) & 0xff:
|
|
return
|
|
raise self.printer.config_error(
|
|
"Unable to write tmc2208 '%s' register %s" % (self.name, reg_name))
|
|
def get_microsteps(self):
|
|
return 256 >> self.mres
|
|
def get_phase(self):
|
|
return (self.get_register("MSCNT") & 0x3ff) >> self.mres
|
|
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
|
|
def cmd_DUMP_TMC(self, params):
|
|
self.printer.lookup_object('toolhead').get_last_move_time()
|
|
gcode = self.printer.lookup_object('gcode')
|
|
logging.info("DUMP_TMC %s", self.name)
|
|
for reg_name in ReadRegisters:
|
|
try:
|
|
val = self.get_register(reg_name)
|
|
except self.printer.config_error as e:
|
|
raise gcode.error(str(e))
|
|
msg = "%-15s %08x" % (reg_name + ":", val)
|
|
logging.info(msg)
|
|
gcode.respond_info(msg)
|
|
|
|
def load_config_prefix(config):
|
|
return TMC2208(config)
|