diff options
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 250 |
1 files changed, 7 insertions, 243 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 464cf21b..aae4b2b1 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -3,8 +3,8 @@ # Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, logging, collections -import bus +import math, logging +import bus, tmc TMC_FREQUENCY=13200000. @@ -88,197 +88,6 @@ FieldFormatters = { ###################################################################### -# Field helpers -###################################################################### - -# Return the position of the first bit set in a mask -def ffs(mask): - return (mask & -mask).bit_length() - 1 - -class FieldHelper: - def __init__(self, all_fields, signed_fields=[], field_formatters={}, - registers=None): - self.all_fields = all_fields - self.signed_fields = {sf: 1 for sf in signed_fields} - self.field_formatters = field_formatters - self.registers = registers - if self.registers is None: - self.registers = collections.OrderedDict() - self.field_to_register = { f: r for r, fields in self.all_fields.items() - for f in fields } - def lookup_register(self, field_name, default=None): - return self.field_to_register.get(field_name, default) - def get_field(self, field_name, reg_value=None, reg_name=None): - # Returns value of the register field - if reg_name is None: - reg_name = self.field_to_register[field_name] - if reg_value is None: - reg_value = self.registers[reg_name] - mask = self.all_fields[reg_name][field_name] - field_value = (reg_value & mask) >> ffs(mask) - if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask: - field_value -= (1 << field_value.bit_length()) - return field_value - def set_field(self, field_name, field_value, reg_value=None, reg_name=None): - # Returns register value with field bits filled with supplied value - if reg_name is None: - reg_name = self.field_to_register[field_name] - if reg_value is None: - reg_value = self.registers.get(reg_name, 0) - mask = self.all_fields[reg_name][field_name] - new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask) - self.registers[reg_name] = new_value - return new_value - def set_config_field(self, config, field_name, default, config_name=None): - # Allow a field to be set from the config file - if config_name is None: - config_name = "driver_" + field_name.upper() - reg_name = self.field_to_register[field_name] - mask = self.all_fields[reg_name][field_name] - maxval = mask >> ffs(mask) - if maxval == 1: - val = config.getboolean(config_name, default) - elif field_name in self.signed_fields: - val = config.getint(config_name, default, - minval=-(maxval//2 + 1), maxval=maxval//2) - else: - val = config.getint(config_name, default, minval=0, maxval=maxval) - return self.set_field(field_name, val) - def pretty_format(self, reg_name, reg_value): - # Provide a string description of a register - reg_fields = self.all_fields.get(reg_name, {}) - reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()]) - fields = [] - for mask, field_name in reg_fields: - field_value = self.get_field(field_name, reg_value, reg_name) - sval = self.field_formatters.get(field_name, str)(field_value) - if sval and sval != "0": - fields.append(" %s=%s" % (field_name, sval)) - return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields)) - - -###################################################################### -# G-Code command helpers -###################################################################### - -class TMCCommandHelper: - 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.query_registers = None - self.gcode = self.printer.lookup_object("gcode") - self.gcode.register_mux_command( - "SET_TMC_FIELD", "STEPPER", self.name, - self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) - self.gcode.register_mux_command( - "INIT_TMC", "STEPPER", self.name, - self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) - self.printer.register_event_handler("klippy:connect", - self._handle_connect) - def _init_registers(self, print_time): - # Send registers - for reg_name, val in self.fields.registers.items(): - self.mcu_tmc.set_register(reg_name, val, print_time) - def _handle_connect(self): - try: - self._init_registers(0.) - except self.printer.command_error as e: - raise self.printer.config_error(str(e)) - cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" - def cmd_INIT_TMC(self, params): - logging.info("INIT_TMC %s", self.name) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - self._init_registers(print_time) - cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver" - def cmd_SET_TMC_FIELD(self, params): - if 'FIELD' not in params or 'VALUE' not in params: - raise self.gcode.error("Invalid command format") - field_name = self.gcode.get_str('FIELD', params) - reg_name = self.fields.lookup_register(field_name, None) - if reg_name is None: - raise self.gcode.error("Unknown field name '%s'" % (field_name,)) - value = self.gcode.get_int('VALUE', params) - reg_val = self.fields.set_field(field_name, value) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - self.mcu_tmc.set_register(reg_name, reg_val, print_time) - # DUMP_TMC support - def setup_register_dump(self, query_registers): - self.query_registers = query_registers - self.gcode.register_mux_command( - "DUMP_TMC", "STEPPER", self.name, - self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) - cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" - def cmd_DUMP_TMC(self, params): - logging.info("DUMP_TMC %s", self.name) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - read_regs = self.query_registers(print_time) - read_regs_by_name = { reg_name: val for reg_name, val in read_regs } - self.gcode.respond_info("========== Write-only registers ==========") - for reg_name, val in self.fields.registers.items(): - if reg_name not in read_regs_by_name: - self.gcode.respond_info( - self.fields.pretty_format(reg_name, val)) - self.gcode.respond_info("========== Queried registers ==========") - for reg_name, val in read_regs: - self.gcode.respond_info(self.fields.pretty_format(reg_name, val)) - - -###################################################################### -# TMC virtual endstops -###################################################################### - -# Endstop wrapper that enables "sensorless homing" -class TMCVirtualEndstop: - def __init__(self, mcu_tmc, mcu_endstop): - self.mcu_tmc = mcu_tmc - self.fields = mcu_tmc.get_fields() - self.mcu_endstop = mcu_endstop - self.en_pwm = self.fields.get_field("en_pwm_mode") - # Wrappers - self.get_mcu = self.mcu_endstop.get_mcu - self.add_stepper = self.mcu_endstop.add_stepper - self.get_steppers = self.mcu_endstop.get_steppers - self.home_start = self.mcu_endstop.home_start - self.home_wait = self.mcu_endstop.home_wait - self.query_endstop = self.mcu_endstop.query_endstop - self.query_endstop_wait = self.mcu_endstop.query_endstop_wait - self.TimeoutError = self.mcu_endstop.TimeoutError - def home_prepare(self): - self.fields.set_field("en_pwm_mode", 0) - val = self.fields.set_field("diag1_stall", 1) - self.mcu_tmc.set_register("GCONF", val) - self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff) - self.mcu_endstop.home_prepare() - def home_finalize(self): - self.fields.set_field("en_pwm_mode", self.en_pwm) - val = self.fields.set_field("diag1_stall", 0) - self.mcu_tmc.set_register("GCONF", val) - self.mcu_tmc.set_register("TCOOLTHRS", 0) - self.mcu_endstop.home_finalize() - -class TMCEndstopHelper: - def __init__(self, config, mcu_tmc, diag_pin): - self.printer = config.get_printer() - self.mcu_tmc = mcu_tmc - self.diag_pin = diag_pin - name_parts = config.get_name().split() - ppins = self.printer.lookup_object("pins") - ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self) - def setup_pin(self, pin_type, pin_params): - ppins = self.printer.lookup_object('pins') - if self.diag_pin is None: - raise ppins.error("tmc virtual endstop requires diag pin config") - if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': - raise ppins.error("tmc virtual endstop only useful as endstop") - if pin_params['invert'] or pin_params['pullup']: - raise ppins.error("Can not pullup/invert tmc virtual endstop") - mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) - return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop) - - -###################################################################### # TMC stepper current config helper ###################################################################### @@ -357,51 +166,6 @@ class TMCCurrentHelper: ###################################################################### -# Config reading helpers -###################################################################### - -# Helper to configure and query the microstep settings -class TMCMicrostepHelper: - def __init__(self, config, mcu_tmc): - self.mcu_tmc = mcu_tmc - self.fields = mcu_tmc.get_fields() - steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, - '8': 5, '4': 6, '2': 7, '1': 8} - mres = config.getchoice('microsteps', steps) - self.fields.set_field("MRES", mres) - def get_microsteps(self): - return 256 >> self.fields.get_field("MRES") - def get_phase(self): - field_name = "MSCNT" - if self.fields.lookup_register(field_name, None) is None: - # TMC2660 uses MSTEP - field_name = "MSTEP" - reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name)) - mscnt = self.fields.get_field(field_name, reg) - return mscnt >> self.fields.get_field("MRES") - -# Helper to configure "stealthchop" mode -def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): - fields = mcu_tmc.get_fields() - en_pwm_mode = False - velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) - if velocity: - stepper_name = " ".join(config.get_name().split()[1:]) - stepper_config = config.getsection(stepper_name) - step_dist = stepper_config.getfloat('step_distance') - step_dist_256 = step_dist / (1 << fields.get_field("MRES")) - threshold = int(tmc_freq * step_dist_256 / velocity + .5) - fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold))) - en_pwm_mode = True - reg = fields.lookup_register("en_pwm_mode", None) - if reg is not None: - fields.set_field("en_pwm_mode", en_pwm_mode) - else: - # TMC2208 uses en_spreadCycle - fields.set_field("en_spreadCycle", not en_pwm_mode) - - -###################################################################### # TMC2130 SPI ###################################################################### @@ -437,20 +201,20 @@ class MCU_TMC_SPI: class TMC2130: def __init__(self, config): # Setup mcu communication - self.fields = FieldHelper(Fields, SignedFields, FieldFormatters) + self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields) # Allow virtual endstop to be created diag1_pin = config.get('diag1_pin', None) - TMCEndstopHelper(config, self.mcu_tmc, diag1_pin) + tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin) # Register commands - cmdhelper = TMCCommandHelper(config, self.mcu_tmc) + cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(self.query_registers) # Setup basic register values TMCCurrentHelper(config, self.mcu_tmc) - mh = TMCMicrostepHelper(config, self.mcu_tmc) + mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc) self.get_microsteps = mh.get_microsteps self.get_phase = mh.get_phase - TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) + 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", 4) |