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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 | 
					
						
							|  |  |  | 
 | 
					
						
							|  |  |  | 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 | 
					
						
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										 |  |  |         self.mcu.register_config_callback(self.build_config) | 
					
						
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										 |  |  |         # 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): | 
					
						
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										 |  |  |         if state == 'connect': | 
					
						
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										 |  |  |             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)) | 
					
						
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										 |  |  |     def get_microsteps(self): | 
					
						
							|  |  |  |         return 256 >> self.mres | 
					
						
							|  |  |  |     def get_phase(self): | 
					
						
							|  |  |  |         return (self.get_register("MSCNT") & 0x3ff) >> self.mres | 
					
						
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										 |  |  |     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: | 
					
						
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										 |  |  |             try: | 
					
						
							|  |  |  |                 val = self.get_register(reg_name) | 
					
						
							|  |  |  |             except self.printer.config_error as e: | 
					
						
							|  |  |  |                 raise gcode.error(str(e)) | 
					
						
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										 |  |  |             msg = "%-15s %08x" % (reg_name + ":", val) | 
					
						
							|  |  |  |             logging.info(msg) | 
					
						
							|  |  |  |             gcode.respond_info(msg) | 
					
						
							|  |  |  | 
 | 
					
						
							|  |  |  | def load_config_prefix(config): | 
					
						
							|  |  |  |     return TMC2208(config) |