diff options
| -rw-r--r-- | klippy/extras/tmc2209.py | 96 | ||||
| -rw-r--r-- | test/klippy/tmc.cfg | 16 | ||||
| -rw-r--r-- | test/klippy/tmc.test | 4 |
3 files changed, 113 insertions, 3 deletions
diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py new file mode 100644 index 00000000..1e012153 --- /dev/null +++ b/klippy/extras/tmc2209.py @@ -0,0 +1,96 @@ +# TMC2209 configuration +# +# Copyright (C) 2019 Stephan Oelze <stephan.oelze@gmail.com> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import tmc2208, tmc2130, tmc, tmc_uart + +TMC_FREQUENCY=12000000. + +Registers = dict(tmc2208.Registers) +Registers.update({ + "TCOOLTHRS": 0x14, + "COOLCONF": 0x42, + "SGTHRS": 0x40, + "SG_RESULT": 0x41 +}) + +ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"] + +Fields = dict(tmc2208.Fields) +Fields["COOLCONF"] = { + "semin": 0x0F << 0, + "seup": 0x03 << 5, + "semax": 0x0F << 8, + "sedn": 0x03 << 13, + "seimin": 0x01 << 15 +} +Fields["IOIN"] = { + "ENN": 0x01 << 0, + "MS1": 0x01 << 2, + "MS2": 0x01 << 3, + "DIAG": 0x01 << 4, + "PDN_UART": 0x01 << 6, + "STEP": 0x01 << 7, + "SPREAD_EN": 0x01 << 8, + "DIR": 0x01 << 9, + "VERSION": 0xff << 24 +} +Fields["SGTHRS"] = { + "SGTHRS": 0xFF << 0 +} +Fields["SG_RESULT"] = { + "SG_RESULT": 0x3FF << 0 +} +Fields["TCOOLTHRS"] = { + "TCOOLTHRS": 0xfffff +} + +FieldFormatters = dict(tmc2208.FieldFormatters) + + +###################################################################### +# TMC2209 printer object +###################################################################### + +class TMC2209: + def __init__(self, config): + # Setup mcu communication + self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields, + FieldFormatters) + self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields) + # Register commands + cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc) + cmdhelper.setup_register_dump(self.query_registers) + # Setup basic register values + self.fields.set_field("pdn_disable", True) + self.fields.set_field("mstep_reg_select", True) + self.fields.set_field("multistep_filt", True) + tmc2130.TMCCurrentHelper(config, self.mcu_tmc) + mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc) + self.get_microsteps = mh.get_microsteps + self.get_phase = mh.get_phase + tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) + # Allow other registers to be set from the config + set_config_field = self.fields.set_config_field + set_config_field(config, "toff", 3) + set_config_field(config, "hstrt", 5) + set_config_field(config, "hend", 0) + set_config_field(config, "TBL", 2) + set_config_field(config, "intpol", True, "interpolate") + set_config_field(config, "IHOLDDELAY", 8) + set_config_field(config, "TPOWERDOWN", 20) + set_config_field(config, "PWM_OFS", 36) + set_config_field(config, "PWM_GRAD", 14) + set_config_field(config, "pwm_freq", 1) + set_config_field(config, "pwm_autoscale", True) + set_config_field(config, "pwm_autograd", True) + set_config_field(config, "PWM_REG", 8) + set_config_field(config, "PWM_LIM", 12) + set_config_field(config, "SGTHRS", 0) + def query_registers(self, print_time=0.): + return [(reg_name, self.mcu_tmc.get_register(reg_name)) + for reg_name in ReadRegisters] + +def load_config_prefix(config): + return TMC2209(config) diff --git a/test/klippy/tmc.cfg b/test/klippy/tmc.cfg index 2a73ae58..443f1435 100644 --- a/test/klippy/tmc.cfg +++ b/test/klippy/tmc.cfg @@ -19,7 +19,6 @@ diag1_pin: !PK2 [stepper_x1] step_pin: PC3 dir_pin: PL6 -enable_pin: !PA4 step_distance: .005 endstop_pin: ^PB6 @@ -33,7 +32,6 @@ diag1_pin: !PK2 [stepper_y] step_pin: PC1 dir_pin: !PL1 -enable_pin: !PA6 step_distance: .005 endstop_pin: tmc5160_stepper_y:virtual_endstop position_endstop: 0 @@ -46,10 +44,20 @@ run_current: .5 sense_resistor: 0.220 diag1_pin: !PK7 +[stepper_y1] +step_pin: PA4 +dir_pin: PA6 +step_distance: .005 + +[tmc2209 stepper_y1] +uart_pin: PA5 +microsteps: 16 +run_current: .5 +sense_resistor: 0.075 + [stepper_z] step_pin: PC2 dir_pin: PL2 -enable_pin: !PA5 step_distance: .0025 endstop_pin: ^PB4 position_endstop: 0.5 @@ -83,3 +91,5 @@ max_velocity: 300 max_accel: 3000 max_z_velocity: 5 max_z_accel: 100 + +[endstop_phase] diff --git a/test/klippy/tmc.test b/test/klippy/tmc.test index 0cd1de17..38c35a78 100644 --- a/test/klippy/tmc.test +++ b/test/klippy/tmc.test @@ -16,6 +16,7 @@ G1 Y1 DUMP_TMC STEPPER=stepper_x DUMP_TMC STEPPER=stepper_x1 DUMP_TMC STEPPER=stepper_y +DUMP_TMC STEPPER=stepper_y1 DUMP_TMC STEPPER=stepper_z DUMP_TMC STEPPER=stepper_z1 @@ -23,6 +24,7 @@ DUMP_TMC STEPPER=stepper_z1 INIT_TMC STEPPER=stepper_x INIT_TMC STEPPER=stepper_x1 INIT_TMC STEPPER=stepper_y +INIT_TMC STEPPER=stepper_y1 INIT_TMC STEPPER=stepper_z INIT_TMC STEPPER=stepper_z1 @@ -30,6 +32,7 @@ INIT_TMC STEPPER=stepper_z1 SET_TMC_CURRENT STEPPER=stepper_x CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_x1 CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_y CURRENT=.7 +SET_TMC_CURRENT STEPPER=stepper_y1 CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_z CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7 @@ -37,5 +40,6 @@ SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7 SET_TMC_CURRENT STEPPER=stepper_x FIELD=intpol VALUE=0 SET_TMC_CURRENT STEPPER=stepper_x1 FIELD=intpol VALUE=0 SET_TMC_CURRENT STEPPER=stepper_y FIELD=intpol VALUE=0 +SET_TMC_CURRENT STEPPER=stepper_y1 FIELD=intpol VALUE=0 SET_TMC_CURRENT STEPPER=stepper_z FIELD=intpol VALUE=0 SET_TMC_CURRENT STEPPER=stepper_z1 FIELD=intpol VALUE=0 |