diff options
| -rw-r--r-- | docs/Config_Reference.md | 12 | ||||
| -rw-r--r-- | klippy/extras/bus.py | 4 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 73 |
3 files changed, 73 insertions, 16 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index fee1ec20..60f344d4 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -2580,6 +2580,12 @@ cs_pin: #spi_software_miso_pin: # See the "common SPI settings" section for a description of the # above parameters. +#chain_position: +#chain_length: +# These parameters configure an SPI daisy chain. The two parameters +# define the stepper position in the chain and the total chain length. +# Position 1 corresponds to the stepper that connects to the MOSI signal. +# The default is to not use an SPI daisy chain. #interpolate: True # If true, enable step interpolation (the driver will internally # step at a rate of 256 micro-steps). The default is True. @@ -2822,6 +2828,12 @@ cs_pin: #spi_software_miso_pin: # See the "common SPI settings" section for a description of the # above parameters. +#chain_position: +#chain_length: +# These parameters configure an SPI daisy chain. The two parameters +# define the stepper position in the chain and the total chain length. +# Position 1 corresponds to the stepper that connects to the MOSI signal. +# The default is to not use an SPI daisy chain. #interpolate: True # If true, enable step interpolation (the driver will internally # step at a rate of 256 micro-steps). The default is True. diff --git a/klippy/extras/bus.py b/klippy/extras/bus.py index 7c6ae440..09259b9f 100644 --- a/klippy/extras/bus.py +++ b/klippy/extras/bus.py @@ -97,11 +97,11 @@ class MCU_SPI: # Helper to setup an spi bus from settings in a config section def MCU_SPI_from_config(config, mode, pin_option="cs_pin", - default_speed=100000): + default_speed=100000, share_type=None): # Determine pin from config ppins = config.get_printer().lookup_object("pins") cs_pin = config.get(pin_option) - cs_pin_params = ppins.lookup_pin(cs_pin) + cs_pin_params = ppins.lookup_pin(cs_pin, share_type=share_type) pin = cs_pin_params['pin'] if pin == 'None': ppins.reset_pin_sharing(cs_pin_params) diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 891de858..f300afbc 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -170,12 +170,66 @@ class TMCCurrentHelper: # TMC2130 SPI ###################################################################### +class MCU_TMC_SPI_chain: + def __init__(self, config, chain_len=1): + self.printer = config.get_printer() + self.chain_len = chain_len + self.mutex = self.printer.get_reactor().mutex() + share = None + if chain_len > 1: + share = "tmc_spi_cs" + self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000, + share_type=share) + self.taken_chain_positions = [] + def _build_cmd(self, data, chain_pos): + return ([0x00] * ((self.chain_len - chain_pos) * 5) + + data + [0x00] * ((chain_pos - 1) * 5)) + def reg_read(self, reg, chain_pos): + cmd = self._build_cmd([reg, 0x00, 0x00, 0x00, 0x00], chain_pos) + self.spi.spi_send(cmd) + if self.printer.get_start_args().get('debugoutput') is not None: + return 0 + params = self.spi.spi_transfer(cmd) + pr = bytearray(params['response']) + pr = pr[(self.chain_len - chain_pos) * 5 : + (self.chain_len - chain_pos + 1) * 5] + return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] + def reg_write(self, reg, val, chain_pos, print_time=None): + minclock = 0 + if print_time is not None: + minclock = self.spi.get_mcu().print_time_to_clock(print_time) + data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, + (val >> 8) & 0xff, val & 0xff] + self.spi.spi_send(self._build_cmd(data, chain_pos), minclock) + +# Helper to setup an spi daisy chain bus from settings in a config section +def lookup_tmc_spi_chain(config): + chain_len = config.getint('chain_length', None, minval=2) + if chain_len is None: + # Simple, non daisy chained SPI connection + return MCU_TMC_SPI_chain(config, 1), 1 + + # Shared SPI bus - lookup existing MCU_TMC_SPI_chain + ppins = config.get_printer().lookup_object("pins") + cs_pin_params = ppins.lookup_pin(config.get('cs_pin'), + share_type="tmc_spi_cs") + tmc_spi = cs_pin_params.get('class') + if tmc_spi is None: + tmc_spi = cs_pin_params['class'] = MCU_TMC_SPI_chain(config, chain_len) + if chain_len != tmc_spi.chain_len: + raise config.error("TMC SPI chain must have same length") + chain_pos = config.getint('chain_position', minval=1, maxval=chain_len) + if chain_pos in tmc_spi.taken_chain_positions: + raise config.error("TMC SPI chain can not have duplicate position") + tmc_spi.taken_chain_positions.append(chain_pos) + return tmc_spi, chain_pos + # Helper code for working with TMC devices via SPI class MCU_TMC_SPI: def __init__(self, config, name_to_reg, fields): self.printer = config.get_printer() - self.mutex = self.printer.get_reactor().mutex() - self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000) + self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config) + self.mutex = self.tmc_spi.mutex self.name_to_reg = name_to_reg self.fields = fields def get_fields(self): @@ -183,21 +237,12 @@ class MCU_TMC_SPI: def get_register(self, reg_name): reg = self.name_to_reg[reg_name] with self.mutex: - self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00]) - if self.printer.get_start_args().get('debugoutput') is not None: - return 0 - params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00]) - pr = bytearray(params['response']) - return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] + read = self.tmc_spi.reg_read(reg, self.chain_pos) + return read def set_register(self, reg_name, val, print_time=None): - minclock = 0 - if print_time is not None: - minclock = self.spi.get_mcu().print_time_to_clock(print_time) reg = self.name_to_reg[reg_name] - data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, - (val >> 8) & 0xff, val & 0xff] with self.mutex: - self.spi.spi_send(data, minclock) + self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time) ###################################################################### |