diff options
| -rw-r--r-- | docs/G-Codes.md | 9 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 80 | ||||
| -rw-r--r-- | klippy/extras/tmc2208.py | 55 |
3 files changed, 132 insertions, 12 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 993770d0..f100d07c 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -302,17 +302,16 @@ section is enabled: ## TMC2130, TMC2660 and TMC2208 -The following command is available when the "tmc2130", "tmc2660" +The following commands are available when the "tmc2130", "tmc2660" or "tmc2208" config section is enabled: - `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver registers and report their values. - `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC registers. Needed to re-enable the driver if power to the chip is turned off then back on. -The following commands are additionally available when the "tmc2660" -config section is enabled: -- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<current>`: This will adjust - the run_current of the TMC driver. +- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`: + This will adjust the run and hold currents of the TMC driver. + HOLDCURRENT is applicable only to the tmc2130 and tmc2208. - `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will alter the value of the specified register field of the TMC driver. This command is intended for low-level diagnostics and debugging only because diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 4932b0d4..e2f005ca 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -166,12 +166,16 @@ def current_bits(current, sense_resistor, vsense_on): cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) return max(0, min(31, cs)) -def get_config_current(config): +def bits_to_current(bits, sense_resistor, vsense_on): + sense_resistor += 0.020 + vsense = 0.32 + if vsense_on: + vsense = 0.18 + current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.)) + return round(current, 2) + +def calc_current_config(run_current, hold_current, sense_resistor): vsense = False - 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.) irun = current_bits(run_current, sense_resistor, vsense) ihold = current_bits(hold_current, sense_resistor, vsense) if irun < 16 and ihold < 16: @@ -180,6 +184,15 @@ def get_config_current(config): ihold = current_bits(hold_current, sense_resistor, vsense) return vsense, irun, ihold +def get_config_current(config): + 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.) + vsense, irun, ihold = calc_current_config( + run_current, hold_current, sense_resistor) + return vsense, irun, ihold, sense_resistor + def get_config_microsteps(config): steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, '8': 5, '4': 6, '2': 7, '1': 8} @@ -214,15 +227,21 @@ class TMC2130: # Add DUMP_TMC, INIT_TMC command gcode = self.printer.lookup_object("gcode") gcode.register_mux_command( + "SET_TMC_CURRENT", "STEPPER", self.name, + self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) + gcode.register_mux_command( "DUMP_TMC", "STEPPER", self.name, self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) gcode.register_mux_command( + "SET_TMC_FIELD", "STEPPER", self.name, + self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) + gcode.register_mux_command( "INIT_TMC", "STEPPER", self.name, self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) # Setup basic register values self.regs = collections.OrderedDict() self.fields = FieldHelper(Fields, FieldFormatters, self.regs) - vsense, irun, ihold = get_config_current(config) + vsense, irun, ihold, self.sense_resistor = get_config_current(config) self.fields.set_field("vsense", vsense) self.fields.set_field("IHOLD", ihold) self.fields.set_field("IRUN", irun) @@ -272,6 +291,42 @@ class TMC2130: def get_phase(self): mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) return mscnt >> self.fields.get_field("MRES") + cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2130 driver" + def cmd_SET_TMC_CURRENT(self, params): + gcode = self.printer.lookup_object('gcode') + vsense = bool(self.fields.get_field("vsense")) + if 'HOLDCURRENT' in params: + hold_current = gcode.get_float( + 'HOLDCURRENT', params, above=0., maxval=2.) + else: + hold_current = bits_to_current( + self.fields.get_field("IHOLD"), + self.sense_resistor, + vsense) + if 'CURRENT' in params: + run_current = gcode.get_float( + 'CURRENT', params, minval=hold_current, maxval=2.) + else: + run_current = bits_to_current( + self.fields.get_field("IRUN"), + self.sense_resistor, + vsense) + if 'HOLDCURRENT' in params or 'CURRENT' in params: + print_time = self.printer.lookup_object('toolhead')\ + .get_last_move_time() + min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + vsense_calc, irun, ihold = calc_current_config(run_current, + hold_current, self.sense_resistor) + if (vsense_calc != vsense): + self.fields.set_field("vsense", vsense_calc) + self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock) + self.fields.set_field("IHOLD", ihold) + self.fields.set_field("IRUN", irun) + self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock) + else: + gcode.respond_info( + "Run Current: %0.2fA Hold Current: %0.2fA" + % (run_current, hold_current)) 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() @@ -291,6 +346,19 @@ class TMC2130: print_time = self.printer.lookup_object('toolhead').get_last_move_time() min_clock = self.spi.get_mcu().print_time_to_clock(print_time) self._init_registers(min_clock) + cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 driver" + def cmd_SET_TMC_FIELD(self, params): + gcode = self.printer.lookup_object('gcode') + if ('FIELD' not in params or + 'VALUE' not in params): + raise gcode.error("Invalid command format") + field = gcode.get_str('FIELD', params) + reg = self.fields.field_to_register[field] + value = gcode.get_int('VALUE', params) + self.fields.set_field(field, value) + print_time = self.printer.lookup_object('toolhead').get_last_move_time() + min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + self.set_register(reg, self.regs[reg], min_clock) # Endstop wrapper that enables tmc2130 "sensorless homing" class TMC2130VirtualEndstop: diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index a6f954c5..4cb67e3e 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -270,9 +270,15 @@ class TMC2208: # Add DUMP_TMC, INIT_TMC command gcode = self.printer.lookup_object("gcode") gcode.register_mux_command( + "SET_TMC_CURRENT", "STEPPER", self.name, + self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) + gcode.register_mux_command( "DUMP_TMC", "STEPPER", self.name, self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) gcode.register_mux_command( + "SET_TMC_FIELD", "STEPPER", self.name, + self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) + gcode.register_mux_command( "INIT_TMC", "STEPPER", self.name, self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) # Setup basic register values @@ -282,7 +288,8 @@ class TMC2208: self.fields.set_field("pdn_disable", True) self.fields.set_field("mstep_reg_select", True) self.fields.set_field("multistep_filt", True) - vsense, irun, ihold = tmc2130.get_config_current(config) + vsense, irun, ihold, self.sense_resistor = \ + tmc2130.get_config_current(config) self.fields.set_field("vsense", vsense) self.fields.set_field("IHOLD", ihold) self.fields.set_field("IRUN", irun) @@ -351,6 +358,40 @@ class TMC2208: def get_phase(self): mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) return mscnt >> self.fields.get_field("MRES") + cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2208 driver" + def cmd_SET_TMC_CURRENT(self, params): + gcode = self.printer.lookup_object('gcode') + vsense = bool(self.fields.get_field("vsense")) + if 'HOLDCURRENT' in params: + hold_current = gcode.get_float( + 'HOLDCURRENT', params, above=0., maxval=2.) + else: + hold_current = tmc2130.bits_to_current( + self.fields.get_field("IHOLD"), + self.sense_resistor, + vsense) + if 'CURRENT' in params: + run_current = gcode.get_float( + 'CURRENT', params, minval=hold_current, maxval=2.) + else: + run_current = tmc2130.bits_to_current( + self.fields.get_field("IRUN"), + self.sense_resistor, + vsense) + if 'HOLDCURRENT' in params or 'CURRENT' in params: + vsense_calc, irun, ihold = tmc2130.calc_current_config(run_current, + hold_current, self.sense_resistor) + self.printer.lookup_object('toolhead').wait_moves() + if (vsense_calc != vsense): + self.fields.set_field("vsense", vsense_calc) + self.set_register("CHOPCONF", self.regs["CHOPCONF"]) + self.fields.set_field("IHOLD", ihold) + self.fields.set_field("IRUN", irun) + self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"]) + else: + gcode.respond_info( + "Run Current: %0.2fA Hold Current: %0.2fA" + % (run_current, hold_current)) 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() @@ -377,6 +418,18 @@ class TMC2208: logging.info("INIT_TMC 2208 %s", self.name) self.printer.lookup_object('toolhead').wait_moves() self._init_registers() + cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2208 driver" + def cmd_SET_TMC_FIELD(self, params): + gcode = self.printer.lookup_object('gcode') + if ('FIELD' not in params or + 'VALUE' not in params): + raise gcode.error("Invalid command format") + field = gcode.get_str('FIELD', params) + reg = self.fields.field_to_register[field] + value = gcode.get_int('VALUE', params) + self.fields.set_field(field, value) + self.printer.lookup_object('toolhead').wait_moves() + self.set_register(reg, self.regs[reg]) def load_config_prefix(config): return TMC2208(config) |