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klipper-dgus/klippy/extras/tmc2130.py

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# TMC2130 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 bus
TMC_FREQUENCY=13200000.
Registers = {
"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
}
ReadRegisters = [
"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
]
Fields = {}
Fields["GCONF"] = {
"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
"diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
"small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
"test_mode": 1<<17
}
Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
Fields["IOIN"] = {
"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
}
Fields["IHOLD_IRUN"] = {
"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
}
Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
Fields["TSTEP"] = { "TSTEP": 0xfffff }
Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
Fields["THIGH"] = { "THIGH": 0xfffff }
Fields["MSCNT"] = { "MSCNT": 0x3ff }
Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
Fields["CHOPCONF"] = {
"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
}
Fields["COOLCONF"] = {
"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
}
Fields["DRV_STATUS"] = {
"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
}
Fields["PWMCONF"] = {
"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
}
Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
FieldFormatters = {
"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" if v else ""),
"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
"VERSION": (lambda v: "%#x" % v),
"CUR_A": (lambda v: decode_signed_int(v, 9)),
"CUR_B": (lambda v: decode_signed_int(v, 9)),
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
"ot": (lambda v: "1(OvertempError!)" if v else ""),
"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
"sgt": (lambda v: decode_signed_int(v, 7)),
}
######################################################################
# Field helpers
######################################################################
# Return the position of the first bit set in a mask
def ffs(mask):
return (mask & -mask).bit_length() - 1
# Decode two's complement signed integer
def decode_signed_int(val, bits):
if ((val >> (bits - 1)) & 1):
return val - (1 << bits)
return val
class FieldHelper:
def __init__(self, all_fields, field_formatters={}, registers=None):
self.all_fields = all_fields
self.field_formatters = field_formatters
self.registers = registers
if self.registers is None:
self.registers = {}
self.field_to_register = { f: r for r, fields in self.all_fields.items()
for f in fields }
def get_field(self, field_name, reg_value=None, reg_name=None):
# Returns value of the register field
if reg_name is None:
reg_name = self.field_to_register[field_name]
if reg_value is None:
reg_value = self.registers[reg_name]
mask = self.all_fields[reg_name][field_name]
return (reg_value & mask) >> ffs(mask)
def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
# Returns register value with field bits filled with supplied value
if reg_name is None:
reg_name = self.field_to_register[field_name]
if reg_value is None:
reg_value = self.registers.get(reg_name, 0)
mask = self.all_fields[reg_name][field_name]
new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
self.registers[reg_name] = new_value
return new_value
def set_config_field(self, config, field_name, default, config_name=None):
# Allow a field to be set from the config file
if config_name is None:
config_name = "driver_" + field_name.upper()
reg_name = self.field_to_register[field_name]
mask = self.all_fields[reg_name][field_name]
maxval = mask >> ffs(mask)
if maxval == 1:
val = config.getboolean(config_name, default)
else:
val = config.getint(config_name, default, minval=0, maxval=maxval)
return self.set_field(field_name, val)
def pretty_format(self, reg_name, value):
# Provide a string description of a register
reg_fields = self.all_fields.get(reg_name, {})
reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
fields = []
for mask, field_name in reg_fields:
fval = (value & mask) >> ffs(mask)
sval = self.field_formatters.get(field_name, str)(fval)
if sval and sval != "0":
fields.append(" %s=%s" % (field_name, sval))
return "%-11s %08x%s" % (reg_name + ":", value, "".join(fields))
######################################################################
# Config reading helpers
######################################################################
def current_bits(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 get_config_current(config):
vsense = False
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.)
irun = current_bits(run_current, sense_resistor, vsense)
ihold = current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16:
vsense = True
irun = current_bits(run_current, sense_resistor, vsense)
ihold = current_bits(hold_current, sense_resistor, vsense)
return vsense, irun, ihold
def get_config_microsteps(config):
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
return config.getchoice('microsteps', steps)
def get_config_stealthchop(config, tmc_freq):
mres = get_config_microsteps(config)
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if not velocity:
return mres, False, 0
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 << mres)
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
return mres, True, max(0, min(0xfffff, threshold))
######################################################################
# TMC2130 printer object
######################################################################
class TMC2130:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins = self.printer.lookup_object("pins")
ppins.register_chip("tmc2130_" + self.name, self)
# 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)
# Setup basic register values
self.regs = collections.OrderedDict()
self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
vsense, irun, ihold = get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_pwm_mode", en_pwm)
self.fields.set_field("TPWMTHRS", thresh)
# 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, "driver_BLANK_TIME_SELECT")
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)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
self.fields.set_field("sgt", sgt)
# Send registers
for reg_name, val in self.regs.items():
self.set_register(reg_name, val)
def setup_pin(self, pin_type, pin_params):
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise pins.error("tmc2130 virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
return TMC2130VirtualEndstop(self)
def get_register(self, reg_name):
reg = Registers[reg_name]
self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
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):
reg = Registers[reg_name]
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(data)
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
return mscnt >> self.fields.get_field("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:
val = self.get_register(reg_name)
msg = self.fields.pretty_format(reg_name, val)
logging.info(msg)
gcode.respond_info(msg)
# Endstop wrapper that enables tmc2130 "sensorless homing"
class TMC2130VirtualEndstop:
def __init__(self, tmc2130):
self.tmc2130 = tmc2130
if tmc2130.diag1_pin is None:
raise pins.error("tmc2130 virtual endstop requires diag1_pin")
ppins = tmc2130.printer.lookup_object('pins')
self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
if self.mcu_endstop.get_mcu() is not tmc2130.spi.get_mcu():
raise pins.error("tmc2130 virtual endstop must be on same mcu")
self.en_pwm = tmc2130.fields.get_field("en_pwm_mode")
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self):
self.tmc2130.fields.set_field("en_pwm_mode", 0)
self.tmc2130.fields.set_field("diag1_stall", 1)
self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
self.tmc2130.set_register("TCOOLTHRS", 0xfffff)
self.mcu_endstop.home_prepare()
def home_finalize(self):
self.tmc2130.fields.set_field("en_pwm_mode", self.en_pwm)
self.tmc2130.fields.set_field("diag1_stall", 0)
self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
self.tmc2130.set_register("TCOOLTHRS", 0)
self.mcu_endstop.home_finalize()
def load_config_prefix(config):
return TMC2130(config)
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