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klipper/klippy/extras/tmc2240.py

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klipper update
2023-06-15 11:41:08 +08:00
# TMC2240 configuration
# <kenneth.lin.gd.cn@gmail.com>
import math, logging
from . import bus, tmc, tmc_uart, tmc2130
TMC_FREQUENCY=10000000.
Registers = {
"GCONF": 0x00,
"GSTAT": 0x01,
"IFCNT": 0x02,
"SLAVECONF": 0x03,
"IOIN": 0x04,
"DRV_CONF": 0x0A,
"GLOBALSCALER": 0x0B,
"IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11,
"TSTEP": 0x12,
"TPWMTHRS": 0x13,
"TCOOLTHRS": 0x14,
"THIGH": 0x15,
"DIRECT_MODE": 0x2d,
"ENCMODE": 0x38,
"X_ENC": 0x39,
"ENC_CONST": 0x3a,
"ENC_STATUS": 0x3b,
"ENC_LATCH": 0x3c,
"ADC_VSUPPLY_AIN": 0x50,
"ADC_TEMP": 0x51,
"OTW_OV_VTH": 0x52,
"MSLUT_0": 0x60,
"MSLUT_1": 0x61,
"MSLUT_2": 0x62,
"MSLUT_3": 0x63,
"MSLUT_4": 0x64,
"MSLUT_5": 0x65,
"MSLUT_6": 0x66,
"MSLUT_7": 0x67,
"MSLUTSEL": 0x68,
"MSLUTSTART": 0x69,
"MSCNT": 0x6a,
"MSCURACT": 0x6b,
"CHOPCONF": 0x6c,
"COOLCONF": 0x6d,
"DRV_STATUS": 0x6f,
"PWMCONF": 0x70,
"PWM_SCALE": 0x71,
"PWM_AUTO": 0x72,
# "SG4_THRS": 0x74,
"SGTHRS": 0x74,
"SG4_RESULT": 0x75,
"SG4_IND": 0x76
}
ReadRegisters = [
"GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "IOIN",
"MSCNT", "MSCURACT", "PWM_SCALE", "PWM_AUTO", "IFCNT"
]
Fields = {}
Fields["GCONF"] = {
"fast_standstill": 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,
"diag0_pushpull": 0x01 << 12,
"diag1_pushpull": 0x01 << 13,
"small_hysteresis": 0x01 << 14,
"stop_enable": 0x01 << 15,
"direct_mode": 0x01 << 16,
}
Fields["GSTAT"] = {
"reset": 0x01 << 0,
"drv_err": 0x01 << 1,
"uv_cp": 0x01 << 2,
"register_reset": 0x01 << 3,
"vm_uvlo": 0x01 << 4
}
Fields["IOIN"] = {
"step": 0x01 << 0,
"dir": 0x01 << 1,
"encb": 0x01 << 2,
"enca": 0x01 << 3,
"drv_enn": 0x01 << 4,
"encn": 0x01 << 5,
"uart_en": 0x01 << 6,
"reserved": 0x01 << 7,
"comp_a": 0x01 << 8,
"comp_b": 0x01 << 9,
"comp_a1_a2": 0x01 << 10,
"comp_b1_b2": 0x01 << 11,
"version": 0xff << 24
}
Fields["GLOBALSCALER"] = {
"globalscaler": 0xff << 0
}
Fields["IHOLD_IRUN"] = {
"ihold": 0x1f << 0,
"irun": 0x1f << 8,
"iholddelay": 0x0f << 16,
"irundelay": 0x0f << 24
}
Fields["TPOWERDOWN"] = {
"tpowerdown": 0xff
}
Fields["TSTEP"] = {
"tstep": 0xfffff << 0
}
Fields["TPWMTHRS"] = {
"tpwmthrs": 0xfffff << 0
}
Fields["TCOOLTHRS"] = {
"tcoolthrs": 0xfffff << 0
}
Fields["THIGH"] = {
"thigh": 0xfffff << 0
}
Fields["DIRECT_MODE"] = {
"direct_coil_a": 0x1ff << 0,
"direct_coil_b": 0x1ff << 16
}
Fields["ENCMODE"] = {
"pol_a": 0x01 << 0,
"pol_b": 0x01 << 1,
"pol_n": 0x01 << 2,
"ignore_ab": 0x01 << 3,
"clr_cont": 0x01 << 4,
"clr_once": 0x01 << 5,
"pos_neg_edge": 0x03 << 6,
"clr_enc_x": 0x01 << 8,
"enc_sel_decimal": 0x01 << 10
}
Fields["X_ENC"] = {
"x_enc": 0xffffffff << 0
}
Fields["ENC_CONST"] = {
"enc_const": 0xffffffff << 0
}
Fields["ENC_STATUS"] = {
"n_event": 0x01 << 0
}
Fields["ENC_LATCH"] = {
"enc_latch": 0xffffffff << 0
}
Fields["MSLUT_0"] = {
"mslut_0": 0xffffffff << 0
}
Fields["MSLUT_1"] = {
"mslut_1": 0xffffffff << 0
}
Fields["MSLUT_2"] = {
"mslut_2": 0xffffffff << 0
}
Fields["MSLUT_3"] = {
"mslut_3": 0xffffffff << 0
}
Fields["MSLUT_4"] = {
"mslut_4": 0xffffffff << 0
}
Fields["MSLUT_5"] = {
"mslut_5": 0xffffffff << 0
}
Fields["MSLUT_6"] = {
"mslut_6": 0xffffffff << 0
}
Fields["MSLUT_7"] = {
"mslut_7": 0xffffffff << 0
}
Fields["MSLUTSEL"] = {
"w0": 0x03 << 0,
"w1": 0x03 << 2,
"w2": 0x03 << 4,
"w3": 0x03 << 6,
"x1": 0xff << 8,
"x2": 0xff << 16,
"x3": 0xff << 24
}
Fields["MSLUTSTART"] = {
"start_sin": 0xff << 0,
"start_sin90": 0xff << 16,
"offset_sin90": 0xff << 24
}
Fields["MSCNT"] = {
"mscnt": 0x3ff << 0
}
Fields["MSCURACT"] = {
"cur_b": 0x1ff << 0,
"cur_a": 0x1ff << 16
}
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["COOLCONF"] = {
"semin": 0x0f << 0,
"seup": 0x03 << 5,
"semax": 0x0f << 8,
"sedn": 0x03 << 13,
"seimin": 0x01 << 15,
"sgt": 0x7f << 16,
"sfilt": 0x01 << 24
}
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["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_meas_sd_enable": 0x01 << 22,
"pwm_dis_reg_stst": 0x01 << 23,
"pwm_reg": 0x0F << 24,
"pwm_lim": 0x0F << 28
}
Fields["PWM_SCALE"] = {
"pwm_scale_sum": 0xff << 0,
"pwm_scale_auto": 0x1ff << 16
}
Fields["IFCNT"] = {
"ifcnt": 0xff
}
'''
Fields["SG4_THRS"] = {
"sg4_thrs": 0xff,
"sg4_filt_en": 0x01 << 8,
"sg4_angle_offset": 0x01 << 9
}
'''
Fields["SGTHRS"] = {
"sgthrs": 0xff,
"sg4_filt_en": 0x01 << 8,
"sg4_angle_offset": 0x01 << 9
}
Fields["SG4_RESULT"] = {
"sg4_result": 0x3ff << 9
}
Fields["DRV_CONF"] = {
"current_range": 0x03 << 0,
"slope_control": 0x03 << 4,
}
Fields["OTW_OV_VTH"] = {
"overtempperwarning_vth": 0x1ff << 16
}
SignedFields = ["cur_a", "cur_b", "sgt",
"pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
######################################################################
# TMC stepper current config helper
######################################################################
MAX_CURRENT = 2.000
class TMC2240CurrentHelper:
def __init__(self, config, mcu_tmc):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
run_current = config.getfloat('run_current',
above=0., maxval=MAX_CURRENT)
hold_current = config.getfloat('hold_current', MAX_CURRENT,
above=0., maxval=MAX_CURRENT)
self.req_hold_current = hold_current
self._set_globalscaler(run_current)
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("ihold", ihold)
self.fields.set_field("irun", irun)
# self.fields.set_field("irun", 31)
def _set_globalscaler(self, current):
globalscaler = int((current * 256. * math.sqrt(2.)
/ 2.0 + .5))
globalscaler = max(32, globalscaler)
if globalscaler >= 256:
globalscaler = 0
self.fields.set_field("globalscaler", globalscaler)
# self.fields.set_field("globalscaler", 0)
def _calc_current_bits(self, current):
globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
cs = int((current * 256. * 32. * math.sqrt(2.)) / (3. * globalscaler) -1. + .5)
return max(0, min(31, cs))
def _calc_current(self, run_current, hold_current):
irun = self._calc_current_bits(run_current)
ihold = self._calc_current_bits(min(hold_current, run_current))
return irun, ihold
def _calc_current_from_field(self, field_name):
globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
bits = self.fields.get_field(field_name)
return (globalscaler * (bits + 1) * 0.325
/ (256. * 32. * math.sqrt(2.)))
def get_current(self):
run_current = self._calc_current_from_field("irun")
hold_current = self._calc_current_from_field("ihold")
return run_current, hold_current, self.req_hold_current, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
self.req_hold_current = hold_current
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("ihold", ihold)
val = self.fields.set_field("irun", irun)
# self.printer.command_error("val = %d, print_time = ", val, print_time)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
######################################################################
# TMC2240 printer object
######################################################################
class TMC2240:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
# self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 4)
# Setup fields for UART
# self.fields.set_field("uart_en", True)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
current_helper = TMC2240CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_phase_offset = cmdhelper.get_phase_offset
self.get_status = cmdhelper.get_status
# Setup basic register values
# tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
tmc.TMC2240StealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field
# set_config_field(config, "en_pwm_mode", 1)
set_config_field(config, "reset", 1)
set_config_field(config, "drv_err", 1)
set_config_field(config, "uv_cp", 1)
set_config_field(config, "register_reset", 1)
set_config_field(config, "vm_uvlo", 1)
# set_config_field(config, "tpwmthrs", 100)
# set_config_field(config, "intpol", 0)
# set_config_field(config, "dedge", 0)
# set_config_field(config, "disfdcc", 1)
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)
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
set_config_field(config, "semin", 0)
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)
set_config_field(config, "iholddelay", 6)
set_config_field(config, "pwm_ofs", 30)
set_config_field(config, "pwm_grad", 0)
set_config_field(config, "pwm_freq", 0)
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)
set_config_field(config, "tpowerdown", 10)
set_config_field(config, "current_range", 2)
set_config_field(config, "overtempperwarning_vth", 0x1ff)
def load_config_prefix(config):
return TMC2240(config)
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