mirror of https://github.com/Desuuuu/klipper.git
500 lines
23 KiB
Python
500 lines
23 KiB
Python
# Common helper code for TMC stepper drivers
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#
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# Copyright (C) 2018-2020 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 logging, collections
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import stepper
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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.get(reg_name, 0)
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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):
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# Allow a field to be set from the config file
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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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# Periodic error checking
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######################################################################
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class TMCErrorCheck:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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name_parts = config.get_name().split()
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self.stepper_name = ' '.join(name_parts[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.check_timer = None
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# Setup for GSTAT query
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reg_name = self.fields.lookup_register("drv_err")
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if reg_name is not None:
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self.gstat_reg_info = [0, reg_name, 0xffffffff, 0xffffffff, 0]
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else:
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self.gstat_reg_info = None
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self.clear_gstat = True
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# Setup for DRV_STATUS query
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self.irun_field = "irun"
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reg_name = "DRV_STATUS"
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mask = err_mask = cs_actual_mask = 0
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if name_parts[0] == 'tmc2130':
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# TMC2130 driver quirks
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self.clear_gstat = False
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cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
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elif name_parts[0] == 'tmc2660':
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# TMC2660 driver quirks
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self.irun_field = "cs"
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reg_name = "READRSP@RDSEL2"
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cs_actual_mask = self.fields.all_fields[reg_name]["se"]
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err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"]
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warn_fields = ["otpw", "t120", "t143", "t150", "t157"]
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for f in err_fields + warn_fields:
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if f in self.fields.all_fields[reg_name]:
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mask |= self.fields.all_fields[reg_name][f]
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if f in err_fields:
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err_mask |= self.fields.all_fields[reg_name][f]
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self.drv_status_reg_info = [0, reg_name, mask, err_mask, cs_actual_mask]
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def _query_register(self, reg_info, try_clear=False):
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last_value, reg_name, mask, err_mask, cs_actual_mask = reg_info
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cleared_flags = 0
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count = 0
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while 1:
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try:
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val = self.mcu_tmc.get_register(reg_name)
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except self.printer.command_error as e:
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count += 1
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if count < 3 and str(e).startswith("Unable to read tmc uart"):
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# Allow more retries on a TMC UART read error
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reactor = self.printer.get_reactor()
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reactor.pause(reactor.monotonic() + 0.050)
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continue
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raise
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if val & mask != last_value & mask:
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fmt = self.fields.pretty_format(reg_name, val)
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logging.info("TMC '%s' reports %s", self.stepper_name, fmt)
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reg_info[0] = last_value = val
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if not val & err_mask:
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if not cs_actual_mask or val & cs_actual_mask:
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break
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irun = self.fields.get_field(self.irun_field)
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if self.check_timer is None or irun < 4:
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break
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if (self.irun_field == "irun"
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and not self.fields.get_field("ihold")):
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break
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# CS_ACTUAL field of zero - indicates a driver reset
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count += 1
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if count >= 3:
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fmt = self.fields.pretty_format(reg_name, val)
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raise self.printer.command_error("TMC '%s' reports error: %s"
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% (self.stepper_name, fmt))
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if try_clear and val & err_mask:
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try_clear = False
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cleared_flags |= val & err_mask
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self.mcu_tmc.set_register(reg_name, val & err_mask)
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return cleared_flags
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def _do_periodic_check(self, eventtime):
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try:
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self._query_register(self.drv_status_reg_info)
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if self.gstat_reg_info is not None:
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self._query_register(self.gstat_reg_info)
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except self.printer.command_error as e:
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self.printer.invoke_shutdown(str(e))
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return self.printer.get_reactor().NEVER
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return eventtime + 1.
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def stop_checks(self):
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if self.check_timer is None:
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return
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self.printer.get_reactor().unregister_timer(self.check_timer)
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self.check_timer = None
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def start_checks(self):
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if self.check_timer is not None:
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self.stop_checks()
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cleared_flags = 0
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self._query_register(self.drv_status_reg_info)
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if self.gstat_reg_info is not None:
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cleared_flags = self._query_register(self.gstat_reg_info,
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try_clear=self.clear_gstat)
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reactor = self.printer.get_reactor()
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curtime = reactor.monotonic()
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self.check_timer = reactor.register_timer(self._do_periodic_check,
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curtime + 1.)
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if cleared_flags:
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reset_mask = self.fields.all_fields["GSTAT"]["reset"]
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if cleared_flags & reset_mask:
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return True
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return False
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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, current_helper):
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self.printer = config.get_printer()
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self.stepper_name = ' '.join(config.get_name().split()[1:])
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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.current_helper = current_helper
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self.echeck_helper = TMCErrorCheck(config, mcu_tmc)
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self.fields = mcu_tmc.get_fields()
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self.read_registers = self.read_translate = None
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self.toff = None
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self.mcu_phase_offset = None
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self.stepper = None
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self.stepper_enable = self.printer.load_object(config, "stepper_enable")
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self.printer.register_event_handler("stepper:sync_mcu_position",
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self._handle_sync_mcu_pos)
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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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# Set microstep config options
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TMCMicrostepHelper(config, mcu_tmc)
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# Register commands
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command("SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD,
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desc=self.cmd_SET_TMC_FIELD_help)
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gcode.register_mux_command("INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC,
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desc=self.cmd_INIT_TMC_help)
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gcode.register_mux_command("SET_TMC_CURRENT", "STEPPER", self.name,
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self.cmd_SET_TMC_CURRENT,
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desc=self.cmd_SET_TMC_CURRENT_help)
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def _init_registers(self, print_time=None):
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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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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, gcmd):
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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, gcmd):
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field_name = gcmd.get('FIELD').lower()
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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 gcmd.error("Unknown field name '%s'" % (field_name,))
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value = gcmd.get_int('VALUE')
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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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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
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def cmd_SET_TMC_CURRENT(self, gcmd):
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ch = self.current_helper
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prev_run_current, prev_hold_current, max_current = ch.get_current()
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run_current = gcmd.get_float('CURRENT', None,
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minval=0., maxval=max_current)
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hold_current = gcmd.get_float('HOLDCURRENT', None,
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above=0., maxval=max_current)
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if run_current is not None or hold_current is not None:
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if run_current is None:
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run_current = prev_run_current
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if hold_current is None:
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hold_current = prev_hold_current
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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ch.set_current(run_current, hold_current, print_time)
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prev_run_current, prev_hold_current, max_current = ch.get_current()
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# Report values
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if prev_hold_current is None:
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gcmd.respond_info("Run Current: %0.2fA" % (prev_run_current,))
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else:
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gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
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% (prev_run_current, prev_hold_current))
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# Stepper phase tracking
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def _get_phases(self):
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return (256 >> self.fields.get_field("mres")) * 4
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def get_phase_offset(self):
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return self.mcu_phase_offset, self._get_phases()
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def _query_phase(self):
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field_name = "mscnt"
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if self.fields.lookup_register(field_name, None) is None:
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# TMC2660 uses MSTEP
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field_name = "mstep"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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return self.fields.get_field(field_name, reg)
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def _handle_sync_mcu_pos(self, stepper):
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if stepper.get_name() != self.stepper_name:
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return
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try:
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driver_phase = self._query_phase()
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except self.printer.command_error as e:
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logging.info("Unable to obtain tmc %s phase", self.stepper_name)
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self.mcu_phase_offset = None
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enable_line = self.stepper_enable.lookup_enable(self.stepper_name)
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if enable_line.is_motor_enabled():
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raise
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return
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if not stepper.is_dir_inverted():
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driver_phase = 1023 - driver_phase
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phases = self._get_phases()
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phase = int(float(driver_phase) / 1024 * phases + .5) % phases
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moff = (phase - stepper.get_mcu_position()) % phases
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if self.mcu_phase_offset is not None and self.mcu_phase_offset != moff:
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logging.warning("Stepper %s phase change (was %d now %d)",
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self.mcu_phase_offset, moff)
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self.mcu_phase_offset = moff
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# Stepper enable/disable tracking
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def _do_enable(self, print_time):
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try:
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if self.toff is not None:
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# Shared enable via comms handling
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self.fields.set_field("toff", self.toff)
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self._init_registers()
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did_reset = self.echeck_helper.start_checks()
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if did_reset:
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self.mcu_phase_offset = None
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# Calculate phase offset
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if self.mcu_phase_offset is not None:
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return
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gcode = self.printer.lookup_object("gcode")
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with gcode.get_mutex():
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if self.mcu_phase_offset is not None:
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return
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logging.info("Pausing toolhead to calculate %s phase offset",
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self.stepper_name)
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self.printer.lookup_object('toolhead').wait_moves()
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self._handle_sync_mcu_pos(self.stepper)
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except self.printer.command_error as e:
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self.printer.invoke_shutdown(str(e))
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def _do_disable(self, print_time):
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try:
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if self.toff is not None:
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val = self.fields.set_field("toff", 0)
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reg_name = self.fields.lookup_register("toff")
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self.mcu_tmc.set_register(reg_name, val, print_time)
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self.echeck_helper.stop_checks()
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except self.printer.command_error as e:
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self.printer.invoke_shutdown(str(e))
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def handle_stepper_enable(self, print_time, is_enable):
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if is_enable:
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cb = (lambda ev: self._do_enable(print_time))
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else:
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cb = (lambda ev: self._do_disable(print_time))
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self.printer.get_reactor().register_callback(cb)
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def _handle_connect(self):
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# Lookup stepper object
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force_move = self.printer.lookup_object("force_move")
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self.stepper = force_move.lookup_stepper(self.stepper_name)
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# Check for soft stepper enable/disable
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enable_line = self.stepper_enable.lookup_enable(self.stepper_name)
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enable_line.register_state_callback(self.handle_stepper_enable)
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if not enable_line.has_dedicated_enable():
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self.toff = self.fields.get_field("toff")
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self.fields.set_field("toff", 0)
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logging.info("Enabling TMC virtual enable for '%s'",
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self.stepper_name)
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# Send init
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try:
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self._init_registers()
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except self.printer.command_error as e:
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logging.info("TMC %s failed to init: %s", self.name, str(e))
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# DUMP_TMC support
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def setup_register_dump(self, read_registers, read_translate=None):
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self.read_registers = read_registers
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self.read_translate = read_translate
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command("DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC,
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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, gcmd):
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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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gcmd.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 self.read_registers:
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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gcmd.respond_info("========== Queried registers ==========")
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for reg_name in self.read_registers:
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val = self.mcu_tmc.get_register(reg_name)
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if self.read_translate is not None:
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reg_name, val = self.read_translate(reg_name, val)
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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# TMC virtual pins
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######################################################################
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# Helper class for "sensorless homing"
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class TMCVirtualPinHelper:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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if self.fields.lookup_register('diag0_stall') is not None:
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if config.get('diag0_pin', None) is not None:
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self.diag_pin = config.get('diag0_pin')
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self.diag_pin_field = 'diag0_stall'
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else:
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self.diag_pin = config.get('diag1_pin', None)
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self.diag_pin_field = 'diag1_stall'
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else:
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self.diag_pin = config.get('diag_pin', None)
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self.diag_pin_field = None
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self.mcu_endstop = None
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self.en_pwm = False
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self.pwmthrs = 0
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# Register virtual_endstop 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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# Validate pin
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|
ppins = self.printer.lookup_object('pins')
|
|
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
|
|
raise ppins.error("tmc virtual endstop only useful as endstop")
|
|
if pin_params['invert'] or pin_params['pullup']:
|
|
raise ppins.error("Can not pullup/invert tmc virtual pin")
|
|
if self.diag_pin is None:
|
|
raise ppins.error("tmc virtual endstop requires diag pin config")
|
|
# Setup for sensorless homing
|
|
reg = self.fields.lookup_register("en_pwm_mode", None)
|
|
if reg is None:
|
|
self.en_pwm = not self.fields.get_field("en_spreadcycle")
|
|
self.pwmthrs = self.fields.get_field("tpwmthrs")
|
|
else:
|
|
self.en_pwm = self.fields.get_field("en_pwm_mode")
|
|
self.pwmthrs = 0
|
|
self.printer.register_event_handler("homing:homing_move_begin",
|
|
self.handle_homing_move_begin)
|
|
self.printer.register_event_handler("homing:homing_move_end",
|
|
self.handle_homing_move_end)
|
|
self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
|
|
return self.mcu_endstop
|
|
def handle_homing_move_begin(self, hmove):
|
|
if self.mcu_endstop not in hmove.get_mcu_endstops():
|
|
return
|
|
reg = self.fields.lookup_register("en_pwm_mode", None)
|
|
if reg is None:
|
|
# On "stallguard4" drivers, "stealthchop" must be enabled
|
|
tp_val = self.fields.set_field("tpwmthrs", 0)
|
|
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
|
|
val = self.fields.set_field("en_spreadcycle", 0)
|
|
else:
|
|
# On earlier drivers, "stealthchop" must be disabled
|
|
self.fields.set_field("en_pwm_mode", 0)
|
|
val = self.fields.set_field(self.diag_pin_field, 1)
|
|
self.mcu_tmc.set_register("GCONF", val)
|
|
tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
|
|
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
|
|
def handle_homing_move_end(self, hmove):
|
|
if self.mcu_endstop not in hmove.get_mcu_endstops():
|
|
return
|
|
reg = self.fields.lookup_register("en_pwm_mode", None)
|
|
if reg is None:
|
|
tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
|
|
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
|
|
val = self.fields.set_field("en_spreadcycle", not self.en_pwm)
|
|
else:
|
|
self.fields.set_field("en_pwm_mode", self.en_pwm)
|
|
val = self.fields.set_field(self.diag_pin_field, 0)
|
|
self.mcu_tmc.set_register("GCONF", val)
|
|
tc_val = self.fields.set_field("tcoolthrs", 0)
|
|
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
|
|
|
|
|
|
######################################################################
|
|
# Config reading helpers
|
|
######################################################################
|
|
|
|
# Helper to configure and query the microstep settings
|
|
def TMCMicrostepHelper(config, mcu_tmc):
|
|
fields = mcu_tmc.get_fields()
|
|
stepper_name = " ".join(config.get_name().split()[1:])
|
|
stepper_config = ms_config = config.getsection(stepper_name)
|
|
if (stepper_config.get('microsteps', None, note_valid=False) is None
|
|
and config.get('microsteps', None, note_valid=False) is not None):
|
|
# Older config format with microsteps in tmc config section
|
|
ms_config = config
|
|
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
|
|
'8': 5, '4': 6, '2': 7, '1': 8}
|
|
mres = ms_config.getchoice('microsteps', steps)
|
|
fields.set_field("mres", mres)
|
|
fields.set_field("intpol", config.getboolean("interpolate", True))
|
|
|
|
# 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.parse_step_distance(stepper_config)
|
|
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)
|