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	Ability to specify `VELOCITY` as a parameter for SET_TMC_FIELD. Useful for configuring at runtime the TSTEP based fields of the driver. Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
		
			
				
	
	
		
			277 lines
		
	
	
		
			9.3 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
			
		
		
	
	
			277 lines
		
	
	
		
			9.3 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
# TMC2660 configuration
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#
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# Copyright (C) 2018-2019  Florian Heilmann <Florian.Heilmann@gmx.net>
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# Copyright (C) 2019-2021  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, tmc2130
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Registers = {
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    "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
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    "CHOPCONF": 0x8, "DRVCTRL": 0x0
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}
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ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
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Fields = {}
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Fields["DRVCTRL"] = {
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    "mres": 0x0f,
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    "dedge": 0x01 << 8,
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    "intpol": 0x01 << 9,
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}
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Fields["CHOPCONF"] = {
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    "toff": 0x0f,
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    "hstrt": 0x7 << 4,
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    "hend": 0x0f << 7,
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    "hdec": 0x03 << 11,
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    "rndtf": 0x01 << 13,
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    "chm": 0x01 << 14,
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    "tbl": 0x03 << 15
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}
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Fields["SMARTEN"] = {
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    "semin" : 0x0f,
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    "seup": 0x03 << 5,
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    "semax": 0x0f << 8,
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    "sedn": 0x03 << 13,
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    "seimin": 0x01 << 15
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}
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Fields["SGCSCONF"] = {
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    "cs": 0x1f,
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    "sgt": 0x7F << 8,
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    "sfilt": 0x01 << 16
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}
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Fields["DRVCONF"] = {
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    "rdsel": 0x03 << 4,
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    "vsense": 0x01 << 6,
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    "sdoff": 0x01 << 7,
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    "ts2g": 0x03 << 8,
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    "diss2g": 0x01 << 10,
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    "slpl": 0x03 << 12,
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    "slph": 0x03 << 14,
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    "tst": 0x01 << 16
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}
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Fields["READRSP@RDSEL0"] = {
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    "stallguard": 0x01 << 4,
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    "ot": 0x01 << 5,
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    "otpw": 0x01 << 6,
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    "s2ga": 0x01 << 7,
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    "s2gb": 0x01 << 8,
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    "ola": 0x01 << 9,
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    "olb": 0x01 << 10,
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    "stst": 0x01 << 11,
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    "mstep": 0x3ff << 14
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}
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Fields["READRSP@RDSEL1"] = {
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    "stallguard": 0x01 << 4,
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    "ot": 0x01 << 5,
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    "otpw": 0x01 << 6,
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    "s2ga": 0x01 << 7,
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    "s2gb": 0x01 << 8,
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    "ola": 0x01 << 9,
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    "olb": 0x01 << 10,
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    "stst": 0x01 << 11,
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    "sg_result": 0x3ff << 14
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}
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Fields["READRSP@RDSEL2"] = {
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    "stallguard": 0x01 << 4,
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    "ot": 0x01 << 5,
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    "otpw": 0x01 << 6,
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    "s2ga": 0x01 << 7,
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    "s2gb": 0x01 << 8,
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    "ola": 0x01 << 9,
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    "olb": 0x01 << 10,
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    "stst": 0x01 << 11,
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    "se": 0x1f << 14,
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    "sg_result@rdsel2": 0x1f << 19
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}
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SignedFields = ["sgt"]
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FieldFormatters = dict(tmc2130.FieldFormatters)
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FieldFormatters.update({
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    "chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
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    "vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
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    "sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),
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    "diss2g": (lambda v: "1(Short to GND disabled!)" if v else ""),
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    "se": (lambda v: ("%d" % v) if v else "0(Reset?)"),
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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 = 2.400
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class TMC2660CurrentHelper:
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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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        self.current = config.getfloat('run_current', minval=0.1,
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                                       maxval=MAX_CURRENT)
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        self.sense_resistor = config.getfloat('sense_resistor')
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        vsense, cs = self._calc_current(self.current)
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        self.fields.set_field("cs", cs)
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        self.fields.set_field("vsense", vsense)
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        # Register ready/printing handlers
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        self.idle_current_percentage = config.getint(
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            'idle_current_percent', default=100, minval=0, maxval=100)
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        if self.idle_current_percentage < 100:
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            self.printer.register_event_handler("idle_timeout:printing",
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                                                self._handle_printing)
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            self.printer.register_event_handler("idle_timeout:ready",
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                                                self._handle_ready)
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    def _calc_current_bits(self, current, vsense):
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        vref = 0.165 if vsense else 0.310
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        sr = self.sense_resistor
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        cs = int(32. * sr * current * math.sqrt(2.) / vref + .5) - 1
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        return max(0, min(31, cs))
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    def _calc_current_from_bits(self, cs, vsense):
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        vref = 0.165 if vsense else 0.310
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        return (cs + 1) * vref / (32. * self.sense_resistor * math.sqrt(2.))
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    def _calc_current(self, run_current):
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        vsense = True
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        irun = self._calc_current_bits(run_current, True)
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        if irun == 31:
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            cur = self._calc_current_from_bits(irun, True)
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            if cur < run_current:
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                irun2 = self._calc_current_bits(run_current, False)
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                cur2 = self._calc_current_from_bits(irun2, False)
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                if abs(run_current - cur2) < abs(run_current - cur):
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                    vsense = False
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                    irun = irun2
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        return vsense, irun
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    def _handle_printing(self, print_time):
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        print_time -= 0.100 # Schedule slightly before deadline
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        self.printer.get_reactor().register_callback(
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            (lambda ev: self._update_current(self.current, print_time)))
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    def _handle_ready(self, print_time):
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        current = self.current * float(self.idle_current_percentage) / 100.
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        self.printer.get_reactor().register_callback(
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            (lambda ev: self._update_current(current, print_time)))
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    def _update_current(self, current, print_time):
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        vsense, cs = self._calc_current(current)
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        val = self.fields.set_field("cs", cs)
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        self.mcu_tmc.set_register("SGCSCONF", val, print_time)
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        # Only update VSENSE if we need to
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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("DRVCONF", val, print_time)
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    def get_current(self):
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        return self.current, None, None, MAX_CURRENT
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    def set_current(self, run_current, hold_current, print_time):
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        self.current = run_current
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        self._update_current(run_current, print_time)
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######################################################################
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# TMC2660 SPI
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######################################################################
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# Helper code for working with TMC2660 devices via SPI
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class MCU_TMC2660_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, 0, 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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        new_rdsel = ReadRegisters.index(reg_name)
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        reg = self.name_to_reg["DRVCONF"]
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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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        with self.mutex:
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            old_rdsel = self.fields.get_field("rdsel")
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            val = self.fields.set_field("rdsel", new_rdsel)
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            msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
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            if new_rdsel != old_rdsel:
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                # Must set RDSEL value first
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                self.spi.spi_send(msg)
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            params = self.spi.spi_transfer(msg)
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        pr = bytearray(params['response'])
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        return (pr[0] << 16) | (pr[1] << 8) | pr[2]
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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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        msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
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        with self.mutex:
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            self.spi.spi_send(msg, minclock)
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    def get_tmc_frequency(self):
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        return None
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######################################################################
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# TMC2660 printer object
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######################################################################
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class TMC2660:
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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.fields.set_field("sdoff", 0) # Access DRVCTRL in step/dir mode
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        self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
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        # Register commands
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        current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
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        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
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        cmdhelper.setup_register_dump(ReadRegisters)
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        self.get_phase_offset = cmdhelper.get_phase_offset
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        self.get_status = cmdhelper.get_status
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        # CHOPCONF
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        set_config_field = self.fields.set_config_field
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        set_config_field(config, "tbl", 2)
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        set_config_field(config, "rndtf", 0)
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        set_config_field(config, "hdec", 0)
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        set_config_field(config, "chm", 0)
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        set_config_field(config, "hend", 3)
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        set_config_field(config, "hstrt", 3)
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        set_config_field(config, "toff", 4)
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        if not self.fields.get_field("chm"):
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            if (self.fields.get_field("hstrt") +
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                self.fields.get_field("hend")) > 15:
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                raise config.error("driver_HEND + driver_HSTRT must be <= 15")
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        # SMARTEN
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        set_config_field(config, "seimin", 0)
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        set_config_field(config, "sedn", 0)
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        set_config_field(config, "semax", 0)
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        set_config_field(config, "seup", 0)
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        set_config_field(config, "semin", 0)
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        # SGSCONF
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        set_config_field(config, "sfilt", 0)
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        set_config_field(config, "sgt", 0)
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        # DRVCONF
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        set_config_field(config, "slph", 0)
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        set_config_field(config, "slpl", 0)
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        set_config_field(config, "diss2g", 0)
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        set_config_field(config, "ts2g", 3)
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def load_config_prefix(config):
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    return TMC2660(config)
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