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klipper/klippy/extras/tmc5160.py

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tmc5160: Add support for TMC5160 steppers (#1637) Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>
2019-05-20 22:29:37 +02:00
# TMC5160 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, tmc2130
vsense = 0.325
GLOBAL_SCALER = 256
TMC_FREQUENCY=12000000.
registers = {
"GCONF": 0x00 ,
"GSTAT": 0x01 ,
"IFCNT": 0x02 ,
"SLAVECONF": 0x03 ,
"IOIN": 0x04 ,
"X_COMPARE": 0x05 ,
"OTP_READ": 0x07 ,
"FACTORY_CONF": 0x08 ,
"SHORT_CONF": 0x09 ,
"DRV_CONF": 0x0A ,
"GLOBAL_SCALER": 0x0B ,
"OFFSET_READ": 0x0C ,
"IHOLD_IRUN": 0x10 ,
"TPOWERDOWN": 0x11 ,
"TSTEP": 0x12 ,
"TPWMTHRS": 0x13 ,
"TCOOLTHRS": 0x14 ,
"THIGH": 0x15 ,
"RAMPMODE": 0x20 ,
"XACTUAL": 0x21 ,
"VACTUAL": 0x22 ,
"VSTART": 0x23 ,
"A1": 0x24 ,
"V1": 0x25 ,
"AMAX": 0x26 ,
"VMAX": 0x27 ,
"DMAX": 0x28 ,
"D1": 0x2A ,
"VSTOP": 0x2B ,
"TZEROWAIT": 0x2C ,
"XTARGET": 0x2D ,
"VDCMIN": 0x33 ,
"SW_MODE": 0x34 ,
"RAMP_STAT": 0x35 ,
"XLATCH": 0x36 ,
"ENCMODE": 0x38 ,
"X_ENC": 0x39 ,
"ENC_CONST": 0x3A ,
"ENC_STATUS": 0x3B ,
"ENC_LATCH": 0x3C ,
"ENC_DEVIATION": 0x3D ,
"MSLUT0": 0x60 ,
"MSLUT1": 0x61 ,
"MSLUT2": 0x62 ,
"MSLUT3": 0x63 ,
"MSLUT4": 0x64 ,
"MSLUT5": 0x65 ,
"MSLUT6": 0x66 ,
"MSLUT7": 0x67 ,
"MSLUTSEL": 0x68 ,
"MSLUTSTART": 0x69 ,
"MSCNT": 0x6A ,
"MSCURACT": 0x6B ,
"CHOPCONF": 0x6C ,
"COOLCONF": 0x6D ,
"DCCTRL": 0x6E ,
"DRV_STATUS": 0x6F ,
"PWMCONF": 0x70 ,
"PWM_SCALE": 0x71 ,
"PWM_AUTO": 0x72 ,
"LOST_STEPS": 0x73
}
ReadRegisters = [
"GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
"LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWMCONF", "PWM_SCALE",
"PWM_AUTO", "TSTEP"
]
fields = {}
fields["COOLCONF"] = {
"semin": 0x0F << 0,
"seup": 0x03 << 5,
"semax": 0x0F << 8,
"sedn": 0x03 << 13,
"seimin": 0x01 << 15,
"sgt": 0x7F << 16,
"sfilt": 0x01 << 24
}
fields["CHOPCONF"] = {
"toff": 0x0F << 0,
"hstrt": 0x07 << 4,
"hend": 0x0F << 7,
"fd3": 0x01 << 11,
"disfdcc": 0x01 << 12,
"chm": 0x01 << 14,
"tbl": 0x03 << 15,
"vhighfs": 0x01 << 18,
"vhighchm": 0x01 << 19,
"tpfd": 0x0F << 20, # midrange resonances
"mres": 0x0F << 24,
"intpol": 0x01 << 28,
"dedge": 0x01 << 29,
"diss2g": 0x01 << 30,
"diss2vs": 0x01 << 31
}
fields["DRV_STATUS"] = {
"SG_RESULT": 0x3FF << 0,
"s2vsa": 0x01 << 12,
"s2vsb": 0x01 << 13,
"stealth": 0x01 << 14,
"fsactive": 0x01 << 15,
"CSACTUAL": 0xFF << 16,
"stallGuard": 0x01 << 24,
"ot": 0x01 << 25,
"otpw": 0x01 << 26,
"s2ga": 0x01 << 27,
"s2gb": 0x01 << 28,
"ola": 0x01 << 29,
"olb": 0x01 << 30,
"stst": 0x01 << 31
}
fields["FACTORY_CONF"] = {
"FACTORY_CONF": 0x1F << 0
}
fields["GCONF"] = {
"recalibrate": 0x01 << 0,
"faststandstill": 0x01 << 1,
"en_pwm_mode": 0x01 << 2,
"multistep_filt": 0x01 << 3,
"shaft": 0x01 << 4,
"diag0_error": 0x01 << 5,
"diag0_otpw": 0x01 << 6,
"diag0_stall": 0x01 << 7,
"diag1_stall": 0x01 << 8,
"diag1_index": 0x01 << 9,
"diag1_onstate": 0x01 << 10,
"diag1_steps_skipped": 0x01 << 11,
"diag0_int_pushpull": 0x01 << 12,
"diag1_poscomp_pushpull": 0x01 << 13,
"small_hysteresis": 0x01 << 14,
"stop_enable": 0x01 << 15,
"direct_mode": 0x01 << 16,
"test_mode": 0x01 << 17
}
fields["GSTAT"] = {
"reset": 0x01 << 0,
"drv_err": 0x01 << 1,
"uv_cp": 0x01 << 2
}
fields["IHOLD_IRUN"] = {
"IHOLD": 0x1F << 0,
"IRUN": 0x1F << 8,
"IHOLDDELAY": 0x0F << 16
}
fields["IOIN"] = {
"REFL_STEP": 0x01 << 0,
"REFR_DIR": 0x01 << 1,
"ENCB_DCEN_CFG4": 0x01 << 2,
"ENCA_DCIN_CFG5": 0x01 << 3,
"DRV_ENN": 0x01 << 4,
"ENC_N_DCO_CFG6": 0x01 << 5,
"SD_MODE": 0x01 << 6,
"SWCOMP_IN": 0x01 << 7,
"VERSION": 0xFF << 24
}
fields["LOST_STEPS"] = {
"LOST_STEPS": 0xfffff << 0
}
fields["MSCNT"] = {
"MSCNT": 0x3ff << 0
}
fields["MSCURACT"] = {
"CUR_A": 0x1ff << 0,
"CUR_B": 0x1ff << 16
}
fields["OTP_READ"] = {
"OTP_FCLKTRIM": 0x1f << 0,
"otp_S2_LEVEL": 0x01 << 5,
"otp_BBM": 0x01 << 6,
"otp_TBL": 0x01 << 7
}
fields["PWM_AUTO"] = {
"PWM_OFS_AUTO": 0xff << 0,
"PWM_GRAD_AUTO": 0xff << 16
}
fields["PWMCONF"] = {
"PWM_OFS": 0xFF << 0,
"PWM_GRAD": 0xFF << 8,
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
"PWM_REG": 0x0F << 24,
"PWM_LIM": 0x0F << 28
}
fields["PWM_SCALE"] = {
"PWM_SCALE_SUM": 0xff << 0,
"PWM_SCALE_AUTO": 0x1ff << 16
}
fields["TPOWERDOWN"] = {
"TPOWERDOWN": 0xff << 0
}
fields["TPWMTHRS"] = {
"TPWMTHRS": 0xfffff << 0
}
fields["TSTEP"] = {
"TSTEP": 0xfffff << 0
}
tmc2130: Add support for two's complement signed fields to FieldHelper Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-05-29 09:14:21 -04:00
SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]
tmc5160: Add support for TMC5160 steppers (#1637) Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>
2019-05-20 22:29:37 +02:00
tmc2130: Add support for two's complement signed fields to FieldHelper Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-05-29 09:14:21 -04:00
FieldFormatters = dict(tmc2130.FieldFormatters)
tmc5160: Add support for TMC5160 steppers (#1637) Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>
2019-05-20 22:29:37 +02:00
FieldFormatters.update({
"reset": (lambda v: "1(reset)" if v else ""),
"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
})
######################################################################
# Config reading helpers
######################################################################
def bits_to_current(bits, sense_resistor, vsense_on):
#current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
current = (bits + 1) * (GLOBAL_SCALER *vsense) \
/ (32*GLOBAL_SCALER*math.sqrt(2.)*sense_resistor)
return round(current, 2)
def calc_current_config(run_current, hold_current, sense_resistor):
irun = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * run_current * \
sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
ihold = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * hold_current * \
sense_resistor) / (GLOBAL_SCALER * vsense) -1 )
return irun, ihold
def get_config_current(config):
run_current = config.getfloat('run_current', above=0., maxval=3.)
hold_current = config.getfloat('hold_current', run_current, above=0.,\
maxval=3.)
sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
irun, ihold = calc_current_config(run_current, hold_current,\
sense_resistor)
return irun, ihold, sense_resistor
######################################################################
# TMC5160 printer object
######################################################################
class TMC5160:
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=100000)
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins = self.printer.lookup_object("pins")
ppins.register_chip("tmc5160_" + self.name, self)
# Add DUMP_TMC, INIT_TMC command
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
gcode.register_mux_command(
"SET_TMC_FIELD", "STEPPER", self.name,
self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
gcode.register_mux_command(
"INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
# Setup basic register values
self.regs = collections.OrderedDict()
tmc2130: Add support for two's complement signed fields to FieldHelper Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-05-29 09:14:21 -04:00
self.fields = tmc2130.FieldHelper(fields, SignedFields, FieldFormatters,
self.regs)
tmc5160: Add support for TMC5160 steppers (#1637) Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>
2019-05-20 22:29:37 +02:00
irun, ihold, self.sense_resistor = get_config_current(config)
msteps, en_pwm, thresh = \
tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field
# CHOPCONF
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 2)
set_config_field(config, "fd3", 0)
set_config_field(config, "disfdcc", 0)
set_config_field(config, "chm", 0)
set_config_field(config, "tbl", 2)
set_config_field(config, "vhighfs", 0)
set_config_field(config, "vhighchm", 0)
set_config_field(config, "tpfd", 4)
self.fields.set_field("mres", msteps) # microsteps
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "dedge", 0)
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
set_config_field(config, "semin", 0) # page 52
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
set_config_field(config, "seimin", 0)
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# GCONF
self.fields.set_field("en_pwm_mode", en_pwm)
# IHOLDIRUN
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)
set_config_field(config, "PWM_GRAD", 0)
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, "freewheel", 0)
set_config_field(config, "PWM_REG", 4)
set_config_field(config, "PWM_LIM", 12)
# TPWMTHRS
self.fields.set_field("TPWMTHRS", thresh)
# TPOWERDOWN
set_config_field(config, "TPOWERDOWN", 10)
self._init_registers()
def decode_hex(self, hex_, reg_name=False):
reg = int( (hex_ >> 32) & 0xff - long(0x80) )
if reg not in registers.values():
reg = int( (hex_ >> 32) & 0xff )
if reg not in registers.values():
reg_name = "UFO"
if not reg_name:
for name, adr_ in registers.items():
if adr_ == reg:
reg_name = name
val = hex_ & 0xFFFFFFFF
logging.debug(self.fields.pretty_format(reg_name, val))
def _init_registers(self, min_clock = 0):
for reg_name, val in self.regs.items():
self.set_register(reg_name, val, min_clock)
def setup_pin(self, pin_type, pin_params):
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise pins.error("tmc5160 virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
return tmc2130.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, min_clock = 0):
reg = registers[reg_name]
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
self.decode_hex( val, reg_name=reg_name )
self.spi.spi_send(data, min_clock)
def set_adress(self, val, min_clock=0):
data = [(val >> 32) & 0xff, (val >> 24) & 0xff,
(val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(data, min_clock)
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_SET_TMC_CURRENT_help = "Set the current of a TMC5160 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
vsense = True
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=3.)
else:
hold_current = bits_to_current(
self.fields.get_field("IHOLD"),
self.sense_resistor,
vsense)
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=2.)
else:
run_current = bits_to_current(
self.fields.get_field("IRUN"),
self.sense_resistor,
vsense)
if 'HOLDCURRENT' in params or 'CURRENT' in params:
print_time = self.printer.lookup_object('toolhead')\
.get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
irun, ihold = calc_current_config(run_current,
hold_current, self.sense_resistor)
self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
else:
gcode.respond_info(
"Run Current: %0.2fA Hold Current: %0.2fA"
% (run_current, hold_current))
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)
gcode.respond_info("========== Write-only registers ==========")
for reg_name, val in self.regs.items():
if reg_name not in ReadRegisters:
gcode.respond_info(self.fields.pretty_format(reg_name, val))
gcode.respond_info("========== Queried registers ==========")
for reg_name in ReadRegisters:
val = self.get_register(reg_name)
gcode.respond_info(self.fields.pretty_format(reg_name, val))
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 5160 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC5160 driver"
def cmd_SET_TMC_FIELD(self, params):
gcode = self.printer.lookup_object('gcode')
if ('FIELD' not in params or
'VALUE' not in params):
raise gcode.error("Invalid command format")
field = gcode.get_str('FIELD', params)
reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register(reg, self.regs[reg], min_clock)
def load_config_prefix(config):
return TMC5160(config)
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