diff options
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 320 |
1 files changed, 211 insertions, 109 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 181fe07a..88c7fcf4 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -6,109 +6,183 @@ import math, logging from . import bus, tmc -TMC_FREQUENCY=13200000. +TMC_FREQUENCY = 13200000.0 Registers = { - "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10, - "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14, - "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61, - "MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65, - "MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69, - "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c, "COOLCONF": 0x6d, - "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, - "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73, + "GCONF": 0x00, + "GSTAT": 0x01, + "IOIN": 0x04, + "IHOLD_IRUN": 0x10, + "TPOWERDOWN": 0x11, + "TSTEP": 0x12, + "TPWMTHRS": 0x13, + "TCOOLTHRS": 0x14, + "THIGH": 0x15, + "XDIRECT": 0x2D, + "MSLUT0": 0x60, + "MSLUT1": 0x61, + "MSLUT2": 0x62, + "MSLUT3": 0x63, + "MSLUT4": 0x64, + "MSLUT5": 0x65, + "MSLUT6": 0x66, + "MSLUT7": 0x67, + "MSLUTSEL": 0x68, + "MSLUTSTART": 0x69, + "MSCNT": 0x6A, + "MSCURACT": 0x6B, + "CHOPCONF": 0x6C, + "COOLCONF": 0x6D, + "DCCTRL": 0x6E, + "DRV_STATUS": 0x6F, + "PWMCONF": 0x70, + "PWM_SCALE": 0x71, + "ENCM_CTRL": 0x72, + "LOST_STEPS": 0x73, } ReadRegisters = [ - "GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT", - "CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS", + "GCONF", + "GSTAT", + "IOIN", + "TSTEP", + "XDIRECT", + "MSCNT", + "MSCURACT", + "CHOPCONF", + "DRV_STATUS", + "PWM_SCALE", + "LOST_STEPS", ] Fields = {} Fields["GCONF"] = { - "i_scale_analog": 1<<0, "internal_rsense": 1<<1, "en_pwm_mode": 1<<2, - "enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5, - "diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8, - "diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11, - "diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13, - "small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16, - "test_mode": 1<<17 + "i_scale_analog": 1 << 0, + "internal_rsense": 1 << 1, + "en_pwm_mode": 1 << 2, + "enc_commutation": 1 << 3, + "shaft": 1 << 4, + "diag0_error": 1 << 5, + "diag0_otpw": 1 << 6, + "diag0_stall": 1 << 7, + "diag1_stall": 1 << 8, + "diag1_index": 1 << 9, + "diag1_onstate": 1 << 10, + "diag1_steps_skipped": 1 << 11, + "diag0_int_pushpull": 1 << 12, + "diag1_pushpull": 1 << 13, + "small_hysteresis": 1 << 14, + "stop_enable": 1 << 15, + "direct_mode": 1 << 16, + "test_mode": 1 << 17, } -Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 } +Fields["GSTAT"] = {"reset": 1 << 0, "drv_err": 1 << 1, "uv_cp": 1 << 2} Fields["IOIN"] = { - "step": 1<<0, "dir": 1<<1, "dcen_cfg4": 1<<2, "dcin_cfg5": 1<<3, - "drv_enn_cfg6": 1<<4, "dco": 1<<5, "version": 0xff << 24 + "step": 1 << 0, + "dir": 1 << 1, + "dcen_cfg4": 1 << 2, + "dcin_cfg5": 1 << 3, + "drv_enn_cfg6": 1 << 4, + "dco": 1 << 5, + "version": 0xFF << 24, } -Fields["IHOLD_IRUN"] = { - "ihold": 0x1f << 0, "irun": 0x1f << 8, "iholddelay": 0x0f << 16 -} -Fields["TPOWERDOWN"] = { "tpowerdown": 0xff } -Fields["TSTEP"] = { "tstep": 0xfffff } -Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff } -Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff } -Fields["THIGH"] = { "thigh": 0xfffff } -Fields["MSLUT0"] = { "mslut0": 0xffffffff } -Fields["MSLUT1"] = { "mslut1": 0xffffffff } -Fields["MSLUT2"] = { "mslut2": 0xffffffff } -Fields["MSLUT3"] = { "mslut3": 0xffffffff } -Fields["MSLUT4"] = { "mslut4": 0xffffffff } -Fields["MSLUT5"] = { "mslut5": 0xffffffff } -Fields["MSLUT6"] = { "mslut6": 0xffffffff } -Fields["MSLUT7"] = { "mslut7": 0xffffffff } +Fields["IHOLD_IRUN"] = {"ihold": 0x1F << 0, "irun": 0x1F << 8, "iholddelay": 0x0F << 16} +Fields["TPOWERDOWN"] = {"tpowerdown": 0xFF} +Fields["TSTEP"] = {"tstep": 0xFFFFF} +Fields["TPWMTHRS"] = {"tpwmthrs": 0xFFFFF} +Fields["TCOOLTHRS"] = {"tcoolthrs": 0xFFFFF} +Fields["THIGH"] = {"thigh": 0xFFFFF} +Fields["MSLUT0"] = {"mslut0": 0xFFFFFFFF} +Fields["MSLUT1"] = {"mslut1": 0xFFFFFFFF} +Fields["MSLUT2"] = {"mslut2": 0xFFFFFFFF} +Fields["MSLUT3"] = {"mslut3": 0xFFFFFFFF} +Fields["MSLUT4"] = {"mslut4": 0xFFFFFFFF} +Fields["MSLUT5"] = {"mslut5": 0xFFFFFFFF} +Fields["MSLUT6"] = {"mslut6": 0xFFFFFFFF} +Fields["MSLUT7"] = {"mslut7": 0xFFFFFFFF} Fields["MSLUTSEL"] = { - "x3": 0xFF << 24, - "x2": 0xFF << 16, - "x1": 0xFF << 8, - "w3": 0x03 << 6, - "w2": 0x03 << 4, - "w1": 0x03 << 2, - "w0": 0x03 << 0, + "x3": 0xFF << 24, + "x2": 0xFF << 16, + "x1": 0xFF << 8, + "w3": 0x03 << 6, + "w2": 0x03 << 4, + "w1": 0x03 << 2, + "w0": 0x03 << 0, } Fields["MSLUTSTART"] = { - "start_sin": 0xFF << 0, - "start_sin90": 0xFF << 16, + "start_sin": 0xFF << 0, + "start_sin90": 0xFF << 16, } -Fields["MSCNT"] = { "mscnt": 0x3ff } -Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 } +Fields["MSCNT"] = {"mscnt": 0x3FF} +Fields["MSCURACT"] = {"cur_a": 0x1FF, "cur_b": 0x1FF << 16} Fields["CHOPCONF"] = { - "toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11, - "disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "tbl": 0x03 << 15, - "vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20, - "mres": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30 + "toff": 0x0F, + "hstrt": 0x07 << 4, + "hend": 0x0F << 7, + "fd3": 1 << 11, + "disfdcc": 1 << 12, + "rndtf": 1 << 13, + "chm": 1 << 14, + "tbl": 0x03 << 15, + "vsense": 1 << 17, + "vhighfs": 1 << 18, + "vhighchm": 1 << 19, + "sync": 0x0F << 20, + "mres": 0x0F << 24, + "intpol": 1 << 28, + "dedge": 1 << 29, + "diss2g": 1 << 30, } Fields["COOLCONF"] = { - "semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13, - "seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24 + "semin": 0x0F, + "seup": 0x03 << 5, + "semax": 0x0F << 8, + "sedn": 0x03 << 13, + "seimin": 1 << 15, + "sgt": 0x7F << 16, + "sfilt": 1 << 24, } Fields["DRV_STATUS"] = { - "sg_result": 0x3ff, "fsactive": 1<<15, "cs_actual": 0x1f << 16, - "stallguard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27, - "s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31 + "sg_result": 0x3FF, + "fsactive": 1 << 15, + "cs_actual": 0x1F << 16, + "stallguard": 1 << 24, + "ot": 1 << 25, + "otpw": 1 << 26, + "s2ga": 1 << 27, + "s2gb": 1 << 28, + "ola": 1 << 29, + "olb": 1 << 30, + "stst": 1 << 31, } Fields["PWMCONF"] = { - "pwm_ampl": 0xff, "pwm_grad": 0xff << 8, "pwm_freq": 0x03 << 16, - "pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20 + "pwm_ampl": 0xFF, + "pwm_grad": 0xFF << 8, + "pwm_freq": 0x03 << 16, + "pwm_autoscale": 1 << 18, + "pwm_symmetric": 1 << 19, + "freewheel": 0x03 << 20, } -Fields["PWM_SCALE"] = { "pwm_scale": 0xff } -Fields["LOST_STEPS"] = { "lost_steps": 0xfffff } +Fields["PWM_SCALE"] = {"pwm_scale": 0xFF} +Fields["LOST_STEPS"] = {"lost_steps": 0xFFFFF} SignedFields = ["cur_a", "cur_b", "sgt"] FieldFormatters = { - "i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""), - "shaft": (lambda v: "1(Reverse)" if v else ""), - "reset": (lambda v: "1(Reset)" if v else ""), - "drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""), - "uv_cp": (lambda v: "1(Undervoltage!)" if v else ""), - "version": (lambda v: "%#x" % v), - "mres": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)), - "otpw": (lambda v: "1(OvertempWarning!)" if v else ""), - "ot": (lambda v: "1(OvertempError!)" if v else ""), - "s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""), - "s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""), - "ola": (lambda v: "1(OpenLoad_A!)" if v else ""), - "olb": (lambda v: "1(OpenLoad_B!)" if v else ""), - "cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"), + "i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""), + "shaft": (lambda v: "1(Reverse)" if v else ""), + "reset": (lambda v: "1(Reset)" if v else ""), + "drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""), + "uv_cp": (lambda v: "1(Undervoltage!)" if v else ""), + "version": (lambda v: "%#x" % v), + "mres": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)), + "otpw": (lambda v: "1(OvertempWarning!)" if v else ""), + "ot": (lambda v: "1(OvertempError!)" if v else ""), + "s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""), + "s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""), + "ola": (lambda v: "1(OpenLoad_A!)" if v else ""), + "olb": (lambda v: "1(OpenLoad_B!)" if v else ""), + "cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"), } @@ -118,35 +192,39 @@ FieldFormatters = { MAX_CURRENT = 2.000 + class TMCCurrentHelper: 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() - run_current = config.getfloat('run_current', - above=0., maxval=MAX_CURRENT) - hold_current = config.getfloat('hold_current', MAX_CURRENT, - above=0., maxval=MAX_CURRENT) + run_current = config.getfloat("run_current", above=0.0, maxval=MAX_CURRENT) + hold_current = config.getfloat( + "hold_current", MAX_CURRENT, above=0.0, maxval=MAX_CURRENT + ) self.req_hold_current = hold_current - self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) + self.sense_resistor = config.getfloat("sense_resistor", 0.110, above=0.0) vsense, irun, ihold = self._calc_current(run_current, hold_current) self.fields.set_field("vsense", vsense) self.fields.set_field("ihold", ihold) self.fields.set_field("irun", irun) + def _calc_current_bits(self, current, vsense): sense_resistor = self.sense_resistor + 0.020 vref = 0.32 if vsense: vref = 0.18 - cs = int(32. * sense_resistor * current * math.sqrt(2.) / vref + .5) - 1 + cs = int(32.0 * sense_resistor * current * math.sqrt(2.0) / vref + 0.5) - 1 return max(0, min(31, cs)) + def _calc_current_from_bits(self, cs, vsense): sense_resistor = self.sense_resistor + 0.020 vref = 0.32 if vsense: vref = 0.18 - return (cs + 1) * vref / (32. * sense_resistor * math.sqrt(2.)) + return (cs + 1) * vref / (32.0 * sense_resistor * math.sqrt(2.0)) + def _calc_current(self, run_current, hold_current): vsense = True irun = self._calc_current_bits(run_current, True) @@ -160,6 +238,7 @@ class TMCCurrentHelper: irun = irun2 ihold = self._calc_current_bits(min(hold_current, run_current), vsense) return vsense, irun, ihold + def get_current(self): irun = self.fields.get_field("irun") ihold = self.fields.get_field("ihold") @@ -167,6 +246,7 @@ class TMCCurrentHelper: run_current = self._calc_current_from_bits(irun, vsense) hold_current = self._calc_current_from_bits(ihold, vsense) return run_current, hold_current, self.req_hold_current, MAX_CURRENT + def set_current(self, run_current, hold_current, print_time): self.req_hold_current = hold_current vsense, irun, ihold = self._calc_current(run_current, hold_current) @@ -182,6 +262,7 @@ class TMCCurrentHelper: # TMC2130 SPI ###################################################################### + class MCU_TMC_SPI_chain: def __init__(self, config, chain_len=1): self.printer = config.get_printer() @@ -190,25 +271,30 @@ class MCU_TMC_SPI_chain: 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.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)) + 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: + if self.printer.get_start_args().get("debugoutput") is not None: return { "spi_status": 0, "data": 0, - "#receive_time": .0, + "#receive_time": 0.0, } 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] + pr = bytearray(params["response"]) + pr = pr[(self.chain_len - chain_pos) * 5 : (self.chain_len - chain_pos + 1) * 5] return { "spi_status": pr[0], "data": (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4], @@ -219,44 +305,51 @@ class MCU_TMC_SPI_chain: 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] - if self.printer.get_start_args().get('debugoutput') is not None: + data = [ + (reg | 0x80) & 0xFF, + (val >> 24) & 0xFF, + (val >> 16) & 0xFF, + (val >> 8) & 0xFF, + val & 0xFF, + ] + if self.printer.get_start_args().get("debugoutput") is not None: self.spi.spi_send(self._build_cmd(data, chain_pos), minclock) return val write_cmd = self._build_cmd(data, chain_pos) dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos) - params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read, - minclock=minclock) - pr = bytearray(params['response']) - pr = pr[(self.chain_len - chain_pos) * 5 : - (self.chain_len - chain_pos + 1) * 5] + params = self.spi.spi_transfer_with_preface( + write_cmd, dummy_read, minclock=minclock + ) + 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 get_mcu(self): return self.spi.get_mcu() + # 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) + 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') + 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) + 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) + 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, tmc_frequency): @@ -267,22 +360,27 @@ class MCU_TMC_SPI: self.name_to_reg = name_to_reg self.fields = fields self.tmc_frequency = tmc_frequency + def get_fields(self): return self.fields + def get_register_raw(self, reg_name): reg = self.name_to_reg[reg_name] with self.mutex: resp = self.tmc_spi.reg_read(reg, self.chain_pos) return resp + def decode_spi_status(spi_status): return { "standstill": spi_status >> 3 & 0x1, "sg2": spi_status >> 2 & 0x1, "driver_error": spi_status >> 1 & 0x1, - "reset_flag": spi_status & 0x1 + "reset_flag": spi_status & 0x1, } + def get_register(self, reg_name): return self.get_register_raw(reg_name)["data"] + def set_register(self, reg_name, val, print_time=None): reg = self.name_to_reg[reg_name] with self.mutex: @@ -291,9 +389,12 @@ class MCU_TMC_SPI: if v == val: return raise self.printer.command_error( - "Unable to write tmc spi '%s' register %s" % (self.name, reg_name)) + "Unable to write tmc spi '%s' register %s" % (self.name, reg_name) + ) + def get_tmc_frequency(self): return self.tmc_frequency + def get_mcu(self): return self.tmc_spi.get_mcu() @@ -302,12 +403,12 @@ class MCU_TMC_SPI: # TMC2130 printer object ###################################################################### + class TMC2130: def __init__(self, config): # Setup mcu communication self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) - self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields, - TMC_FREQUENCY) + self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields, TMC_FREQUENCY) # Allow virtual pins to be created tmc.TMCVirtualPinHelper(config, self.mcu_tmc) # Register commands @@ -349,5 +450,6 @@ class TMC2130: # TPOWERDOWN set_config_field(config, "tpowerdown", 0) + def load_config_prefix(config): return TMC2130(config) |