diff options
| -rw-r--r-- | klippy/extras/tmc2208.py | 236 |
1 files changed, 124 insertions, 112 deletions
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index dcd7b890..cb4a6c93 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -1,6 +1,6 @@ # TMC2208 UART communication and configuration # -# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, collections @@ -179,77 +179,17 @@ FieldFormatters.update({ ###################################################################### -# TMC2208 communication +# TMC2208 uart communication ###################################################################### -# Generate a CRC8-ATM value for a bytearray -def calc_crc8(data): - crc = 0 - for b in data: - for i in range(8): - if (crc >> 7) ^ (b & 0x01): - crc = (crc << 1) ^ 0x07 - else: - crc = (crc << 1) - crc &= 0xff - b >>= 1 - return crc - -# Add serial start and stop bits to a message in a bytearray -def add_serial_bits(data): - out = 0 - pos = 0 - for d in data: - b = (d << 1) | 0x200 - out |= (b << pos) - pos += 10 - res = bytearray() - for i in range((pos+7)//8): - res.append((out >> (i*8)) & 0xff) - return res - -# Generate a tmc2208 read register message -def encode_tmc2208_read(sync, addr, reg): - msg = bytearray([sync, addr, reg]) - msg.append(calc_crc8(msg)) - return add_serial_bits(msg) - -# Generate a tmc2208 write register message -def encode_tmc2208_write(sync, addr, reg, val): - msg = bytearray([sync, addr, reg, (val >> 24) & 0xff, (val >> 16) & 0xff, - (val >> 8) & 0xff, val & 0xff]) - msg.append(calc_crc8(msg)) - return add_serial_bits(msg) - -# Extract a tmc2208 read response message -def decode_tmc2208_read(reg, data): - # Convert data into a long integer for easy manipulation - if len(data) != 10: - return None - mval = pos = 0 - for d in bytearray(data): - mval |= d << pos - pos += 8 - # Extract register value - val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16) - | (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff)) - # Verify start/stop bits and crc - encoded_data = encode_tmc2208_write(0x05, 0xff, reg, val) - if data != encoded_data: - return None - return val - - -###################################################################### -# TMC2208 printer object -###################################################################### - -class TMC2208: - def __init__(self, config): +# Helper code for communicating via TMC uart +class MCU_TMC_uart: + def __init__(self, config, name_to_reg, fields): self.printer = config.get_printer() self.name = config.get_name().split()[-1] - self.printer.register_event_handler("klippy:connect", - self._init_registers) + self.name_to_reg = name_to_reg + self.fields = fields + self.ifcnt = None # pin setup ppins = self.printer.lookup_object("pins") rx_pin_params = ppins.lookup_pin( @@ -268,6 +208,116 @@ class TMC2208: self.oid = self.mcu.create_oid() self.tmcuart_send_cmd = None self.mcu.register_config_callback(self.build_config) + def build_config(self): + bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.) + self.mcu.add_config_cmd( + "config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d" + % (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks)) + cmd_queue = self.mcu.alloc_command_queue() + self.tmcuart_send_cmd = self.mcu.lookup_command( + "tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue) + def get_fields(self): + return self.fields + def _calc_crc8(self, data): + # Generate a CRC8-ATM value for a bytearray + crc = 0 + for b in data: + for i in range(8): + if (crc >> 7) ^ (b & 0x01): + crc = (crc << 1) ^ 0x07 + else: + crc = (crc << 1) + crc &= 0xff + b >>= 1 + return crc + def _add_serial_bits(self, data): + # Add serial start and stop bits to a message in a bytearray + out = 0 + pos = 0 + for d in data: + b = (d << 1) | 0x200 + out |= (b << pos) + pos += 10 + res = bytearray() + for i in range((pos+7)//8): + res.append((out >> (i*8)) & 0xff) + return res + def _encode_read(self, sync, addr, reg): + # Generate a tmc2208 read register message + msg = bytearray([sync, addr, reg]) + msg.append(self._calc_crc8(msg)) + return self._add_serial_bits(msg) + def _encode_write(self, sync, addr, reg, val): + # Generate a tmc2208 write register message + msg = bytearray([sync, addr, reg, (val >> 24) & 0xff, + (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]) + msg.append(self._calc_crc8(msg)) + return self._add_serial_bits(msg) + def _decode_read(self, reg, data): + # Extract a tmc2208 read response message + if len(data) != 10: + return None + # Convert data into a long integer for easy manipulation + mval = pos = 0 + for d in bytearray(data): + mval |= d << pos + pos += 8 + # Extract register value + val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16) + | (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff)) + # Verify start/stop bits and crc + encoded_data = self._encode_write(0x05, 0xff, reg, val) + if data != encoded_data: + return None + return val + def get_register(self, reg_name): + reg = self.name_to_reg[reg_name] + msg = self._encode_read(0xf5, 0x00, reg) + if self.printer.get_start_args().get('debugoutput') is not None: + return 0 + for retry in range(5): + params = self.tmcuart_send_cmd.send_with_response( + [self.oid, msg, 10], 'tmcuart_response', self.oid) + val = self._decode_read(reg, params['read']) + if val is not None: + return val + raise self.printer.command_error( + "Unable to read tmc2208 '%s' register %s" % (self.name, reg_name)) + def set_register(self, reg_name, val, print_time=0.): + msg = self._encode_write(0xf5, 0x00, + self.name_to_reg[reg_name] | 0x80, val) + if self.printer.get_start_args().get('debugoutput') is not None: + return + for retry in range(5): + ifcnt = self.ifcnt + if ifcnt is None: + self.ifcnt = ifcnt = self.get_register("IFCNT") + params = self.tmcuart_send_cmd.send_with_response( + [self.oid, msg, 0], 'tmcuart_response', self.oid) + self.ifcnt = self.get_register("IFCNT") + if self.ifcnt == (ifcnt + 1) & 0xff: + return + raise self.printer.command_error( + "Unable to write tmc2208 '%s' register %s" % (self.name, reg_name)) + + +###################################################################### +# TMC2208 printer object +###################################################################### + +class TMC2208: + def __init__(self, config): + self.printer = config.get_printer() + self.name = config.get_name().split()[-1] + self.printer.register_event_handler("klippy:connect", + self._handle_connect) + # Setup mcu communication + self.regs = collections.OrderedDict() + self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters, + self.regs) + self.mcu_tmc = MCU_TMC_uart(config, Registers, self.fields) + self.get_register = self.mcu_tmc.get_register + self.set_register = self.mcu_tmc.set_register # Add DUMP_TMC, INIT_TMC command gcode = self.printer.lookup_object("gcode") gcode.register_mux_command( @@ -283,10 +333,6 @@ class TMC2208: "INIT_TMC", "STEPPER", self.name, self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) # Setup basic register values - self.ifcnt = None - self.regs = collections.OrderedDict() - self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters, - self.regs) self.fields.set_field("pdn_disable", True) self.fields.set_field("mstep_reg_select", True) self.fields.set_field("multistep_filt", True) @@ -315,46 +361,15 @@ class TMC2208: set_config_field(config, "pwm_autograd", True) set_config_field(config, "PWM_REG", 8) set_config_field(config, "PWM_LIM", 12) - def build_config(self): - bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.) - self.mcu.add_config_cmd( - "config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d" - % (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks)) - cmd_queue = self.mcu.alloc_command_queue() - self.tmcuart_send_cmd = self.mcu.lookup_command( - "tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue) def _init_registers(self): # Send registers for reg_name, val in self.regs.items(): self.set_register(reg_name, val) - def get_register(self, reg_name): - reg = Registers[reg_name] - msg = encode_tmc2208_read(0xf5, 0x00, reg) - if self.printer.get_start_args().get('debugoutput') is not None: - return 0 - for retry in range(5): - params = self.tmcuart_send_cmd.send_with_response( - [self.oid, msg, 10], 'tmcuart_response', self.oid) - val = decode_tmc2208_read(reg, params['read']) - if val is not None: - return val - raise self.printer.config_error( - "Unable to read tmc2208 '%s' register %s" % (self.name, reg_name)) - def set_register(self, reg_name, val): - msg = encode_tmc2208_write(0xf5, 0x00, Registers[reg_name] | 0x80, val) - if self.printer.get_start_args().get('debugoutput') is not None: - return - for retry in range(5): - ifcnt = self.ifcnt - if ifcnt is None: - self.ifcnt = ifcnt = self.get_register("IFCNT") - params = self.tmcuart_send_cmd.send_with_response( - [self.oid, msg, 0], 'tmcuart_response', self.oid) - self.ifcnt = self.get_register("IFCNT") - if self.ifcnt == (ifcnt + 1) & 0xff: - return - raise self.printer.config_error( - "Unable to write tmc2208 '%s' register %s" % (self.name, reg_name)) + def _handle_connect(self): + try: + self._init_registers() + except self.printer.command_error as e: + raise self.printer.config_error(str(e)) def get_microsteps(self): return 256 >> self.fields.get_field("MRES") def get_phase(self): @@ -405,10 +420,7 @@ class TMC2208: gcode.respond_info(self.fields.pretty_format(reg_name, val)) gcode.respond_info("========== Queried registers ==========") for reg_name in ReadRegisters: - try: - val = self.get_register(reg_name) - except self.printer.config_error as e: - raise gcode.error(str(e)) + val = self.get_register(reg_name) # IOIN has different mappings depending on the driver type # (SEL_A field of IOIN reg) if reg_name == "IOIN": |