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klipper-dgus/klippy/extras/tmc2208.py

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# 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
import tmc2130
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"
]
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
}
######################################################################
# 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]
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
# 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 ppins.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 handle_connect(self):
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)
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
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)
if self.printer.get_start_args().get('debugoutput') is not None:
return
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))
# IOIN has different mappings depending on the driver type
# (SEL_A field of IOIN reg)
if reg_name is "IOIN":
drv_type = tmc2130.get_field(Fields, "IOIN@TMC222x", "SEL_A", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
msg = tmc2130.pretty_format(Fields, reg_name, val)
logging.info(msg)
gcode.respond_info(msg)
def load_config_prefix(config):
return TMC2208(config)
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