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71 lines
3.2 KiB
Python
71 lines
3.2 KiB
Python
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# TMC2130 configuration
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#
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# Copyright (C) 2018 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 math
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class tmc2130:
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def __init__(self, config):
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printer = config.get_printer()
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# pin setup
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ppins = printer.lookup_object("pins")
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cs_pin = config.get('cs_pin')
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cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
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if cs_pin_params['invert']:
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raise pins.error("tmc2130 can not invert pin")
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self.mcu = cs_pin_params['chip']
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pin = cs_pin_params['pin']
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self.oid = self.mcu.create_oid()
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self.mcu.add_config_cmd(
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"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
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self.oid, 0, cs_pin_params['pin'], 3, 3600000))
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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microsteps = config.getchoice('microsteps', steps)
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interpolate = config.getboolean('interpolate', True)
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stealthchop = config.getboolean('stealthchop', False)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
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minval=0, maxval=3)
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toff = config.getint('driver_TOFF', 1, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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# calculate current
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vsense = False
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# configure GCONF
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self.add_config_cmd(0x00, stealthchop << 2)
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# configure CHOPCONF
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self.add_config_cmd(
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (microsteps << 24) | (interpolate << 28))
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# configure IHOLD_IRUN
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self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
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# configure TPOWERDOWN
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self.add_config_cmd(0x11, tpowerdown)
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def add_config_cmd(self, addr, val):
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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if vsense_on:
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vsense = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
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- 1. + .5)
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return max(0, min(31, cs))
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def load_config_prefix(config):
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return tmc2130(config)
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