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https://github.com/Klipper3d/klipper.git
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efebbb9a2f
Allow for diag0 only hardware to use sensorless homing. Signed-off-by: Trevor Jones <trevorjones141@gmail.com>
239 lines
10 KiB
Python
239 lines
10 KiB
Python
# TMC2130 configuration
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#
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# Copyright (C) 2018-2019 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, logging
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from . import bus, tmc
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TMC_FREQUENCY=13200000.
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
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"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
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"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
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]
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
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"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
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"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
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"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
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"diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
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"small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
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"test_mode": 1<<17
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}
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Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
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Fields["IOIN"] = {
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"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
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"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
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Fields["TSTEP"] = { "TSTEP": 0xfffff }
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Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
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Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
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Fields["THIGH"] = { "THIGH": 0xfffff }
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Fields["MSCNT"] = { "MSCNT": 0x3ff }
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Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
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Fields["CHOPCONF"] = {
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"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
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"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
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"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
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"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
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}
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Fields["COOLCONF"] = {
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"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
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"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
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}
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
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"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
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"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
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}
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Fields["PWMCONF"] = {
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"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
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"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
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}
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Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
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Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
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SignedFields = ["CUR_A", "CUR_B", "sgt"]
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FieldFormatters = {
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"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
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"shaft": (lambda v: "1(Reverse)" if v else ""),
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"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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"VERSION": (lambda v: "%#x" % v),
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
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"ot": (lambda v: "1(OvertempError!)" if v else ""),
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"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
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"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
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"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
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"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
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}
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######################################################################
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# TMC stepper current config helper
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######################################################################
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MAX_CURRENT = 2.000
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class TMCCurrentHelper:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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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.fields = mcu_tmc.get_fields()
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run_current = config.getfloat('run_current',
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above=0., maxval=MAX_CURRENT)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=MAX_CURRENT)
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self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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gcode = self.printer.lookup_object("gcode")
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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 _calc_current_bits(self, current, vsense):
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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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if vsense:
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vref = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vref
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- 1. + .5)
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return max(0, min(31, cs))
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def _calc_current(self, run_current, hold_current):
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vsense = False
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(min(hold_current, run_current),
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vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(min(hold_current, run_current),
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vsense)
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return vsense, irun, ihold
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def _calc_current_from_field(self, field_name):
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bits = self.fields.get_field(field_name)
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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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if self.fields.get_field("vsense"):
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vref = 0.18
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current = (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
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return round(current, 2)
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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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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 None and hold_current is None:
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# Query only
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run_current = self._calc_current_from_field("IRUN")
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hold_current = self._calc_current_from_field("IHOLD")
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gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_current))
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return
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if run_current is None:
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run_current = self._calc_current_from_field("IRUN")
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if hold_current is None:
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hold_current = self._calc_current_from_field("IHOLD")
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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if vsense != self.fields.get_field("vsense"):
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val = self.fields.set_field("vsense", vsense)
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self.mcu_tmc.set_register("CHOPCONF", val, print_time)
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self.fields.set_field("IHOLD", ihold)
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val = self.fields.set_field("IRUN", irun)
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self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
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######################################################################
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# TMC2130 SPI
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######################################################################
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# Helper code for working with TMC devices via SPI
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class MCU_TMC_SPI:
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def __init__(self, config, name_to_reg, fields):
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self.printer = config.get_printer()
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self.mutex = self.printer.get_reactor().mutex()
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
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self.name_to_reg = name_to_reg
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self.fields = fields
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def get_fields(self):
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return self.fields
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def get_register(self, reg_name):
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reg = self.name_to_reg[reg_name]
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with self.mutex:
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self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
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if self.printer.get_start_args().get('debugoutput') is not None:
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return 0
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params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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pr = bytearray(params['response'])
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return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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def set_register(self, reg_name, val, print_time=None):
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minclock = 0
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if print_time is not None:
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minclock = self.spi.get_mcu().print_time_to_clock(print_time)
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reg = self.name_to_reg[reg_name]
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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with self.mutex:
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self.spi.spi_send(data, minclock)
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######################################################################
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# TMC2130 printer object
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######################################################################
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class TMC2130:
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def __init__(self, config):
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# Setup mcu communication
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self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
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# Allow virtual pins to be created
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tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
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# Register commands
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cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(ReadRegisters)
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# Setup basic register values
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TMCCurrentHelper(config, self.mcu_tmc)
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mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 4)
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set_config_field(config, "hstrt", 0)
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set_config_field(config, "hend", 7)
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set_config_field(config, "TBL", 1)
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set_config_field(config, "IHOLDDELAY", 8)
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set_config_field(config, "TPOWERDOWN", 0)
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set_config_field(config, "PWM_AMPL", 128)
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set_config_field(config, "PWM_GRAD", 4)
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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def load_config_prefix(config):
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return TMC2130(config)
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