diff options
| -rw-r--r-- | klippy/extras/tmc2660.py | 144 |
1 files changed, 78 insertions, 66 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index c2ecff8a..ae03efe1 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -1,24 +1,12 @@ # TMC2660 configuration # # Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net> +# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import math, collections, logging import bus, tmc2130 -def current_bits(current, sense_resistor, vsense_on): - vsense = 0.165 if vsense_on else 0.310 - cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) - return max(0, min(cs, 31)) - -def get_config_current(run_current, sense_resistor): - vsense = False - cs = current_bits(run_current, sense_resistor, vsense) - if cs < 16: - vsense = True - cs = current_bits(run_current, sense_resistor, vsense) - return cs, vsense - Registers = { "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA, "CHOPCONF": 0x8, "DRVCTRL": 0x0 @@ -134,6 +122,80 @@ FieldFormatters = { ###################################################################### +# TMC stepper current config helper +###################################################################### + +MAX_CURRENT = 2.400 + +class TMC2660CurrentHelper: + 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() + self.current = config.getfloat('run_current', minval=0.1, + maxval=MAX_CURRENT) + self.sense_resistor = config.getfloat('sense_resistor') + vsense, cs = self._calc_current(self.current) + self.fields.set_field("CS", cs) + self.fields.set_field("VSENSE", vsense) + + # Register ready/printing handlers + self.idle_current_percentage = config.getint( + 'idle_current_percent', default=100, minval=0, maxval=100) + if self.idle_current_percentage < 100: + self.printer.register_event_handler("idle_timeout:printing", + self.handle_printing) + self.printer.register_event_handler("idle_timeout:ready", + self.handle_ready) + + 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) + + def _calc_current_bits(self, current, vsense): + vref = 0.165 if vsense else 0.310 + cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref + - 1. + .5) + return max(0, min(31, cs)) + + def _calc_current(self, run_current): + vsense = False + cs = self._calc_current_bits(run_current, vsense) + if cs < 16: + vsense = True + cs = self._calc_current_bits(run_current, vsense) + return vsense, cs + + def handle_printing(self, print_time): + self.set_current(0., self.current) # workaround + + def handle_ready(self, print_time): + self.set_current(print_time, (float(self.idle_current_percentage) + * self.current / 100)) + + def set_current(self, print_time, current): + vsense, cs = self._calc_current(current) + val = self.fields.set_field("CS", cs) + self.mcu_tmc.set_register("SGCSCONF", val, print_time) + # Only update VSENSE if we need to + if vsense != self.fields.get_field("VSENSE"): + val = self.fields.set_field("VSENSE", vsense) + self.mcu_tmc.set_register("DRVCONF", val, print_time) + + cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver" + def cmd_SET_TMC_CURRENT(self, params): + gcode = self.printer.lookup_object('gcode') + if 'CURRENT' in params: + self.current = gcode.get_float( + 'CURRENT', params, minval=0.1, maxval=MAX_CURRENT) + self.set_current( + self.printer.lookup_object('toolhead').get_last_move_time(), + self.current) + + +###################################################################### # TMC2660 SPI ###################################################################### @@ -171,25 +233,18 @@ class TMC2660: self.printer = config.get_printer() self.name = config.get_name().split()[1] # Setup mcu communication - self.regs = collections.OrderedDict() - self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters, - self.regs) + self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields) self.get_register = self.mcu_tmc.get_register self.set_register = self.mcu_tmc.set_register # Register commands cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(self.query_registers) - 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) - # Setup driver registers - set_config_field = self.fields.set_config_field # DRVCTRL mres = tmc2130.get_config_microsteps(config) self.fields.set_field("MRES", mres) + set_config_field = self.fields.set_config_field set_config_field(config, "DEDGE", 0) set_config_field(config, "INTPOL", True, 'interpolate') # CHOPCONF @@ -214,32 +269,16 @@ class TMC2660: # SGSCONF set_config_field(config, "SFILT", 1) set_config_field(config, "SGT", 0) - self.current = config.getfloat('run_current', minval=0.1, - maxval=2.4) - self.sense_resistor = config.getfloat('sense_resistor') - (self.driver_cs, - self.driver_vsense) = get_config_current(self.current, - self.sense_resistor) - self.fields.set_field("CS", self.driver_cs) + TMC2660CurrentHelper(config, self.mcu_tmc) # DRVCONF set_config_field(config, "SLPH", 0) set_config_field(config, "SLPL", 0) set_config_field(config, "DISS2G", 0) set_config_field(config, "TS2G", 3) - self.fields.set_field("VSENSE", self.driver_vsense) self.fields.set_field("RDSEL", 0) # needed for phase calculations self.fields.set_field("SDOFF", 0) # only step/dir mode supported - # Register ready/printing handlers - self.idle_current_percentage = config.getint( - 'idle_current_percent', default=100, minval=0, maxval=100) - if self.idle_current_percentage < 100: - self.printer.register_event_handler("idle_timeout:printing", - self.handle_printing) - self.printer.register_event_handler("idle_timeout:ready", - self.handle_ready) - def query_registers(self, print_time=0.): return [(reg_name, self.get_register(reg_name)) for reg_name in ReadRegisters] @@ -252,32 +291,5 @@ class TMC2660: mscnt = self.fields.get_field("MSTEP", reg) return mscnt >> self.fields.get_field("MRES") - def handle_printing(self, print_time): - self.set_current(0., self.current) # workaround - - def handle_ready(self, print_time): - self.set_current(print_time, (float(self.idle_current_percentage) - * self.current / 100)) - - def set_current(self, print_time, current): - (self.driver_cs, - self.driver_vsense) = get_config_current(current, self.sense_resistor) - self.fields.set_field("CS", self.driver_cs) - self.set_register("SGCSCONF", self.regs["SGCSCONF"], print_time) - # Only update VSENSE if we need to - if self.driver_vsense != self.fields.get_field("VSENSE"): - self.fields.set_field("VSENSE", self.driver_vsense) - self.set_register("DRVCONF", self.regs["DRVCONF"], print_time) - - cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver" - def cmd_SET_TMC_CURRENT(self, params): - gcode = self.printer.lookup_object('gcode') - if 'CURRENT' in params: - self.current = gcode.get_float( - 'CURRENT', params, minval=0.1, maxval=2.4) - self.set_current( - self.printer.lookup_object('toolhead').get_last_move_time(), - self.current) - def load_config_prefix(config): return TMC2660(config) |