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-rw-r--r--klippy/extras/tmc2208.py278
1 files changed, 136 insertions, 142 deletions
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index 39bd8737..fcf057ce 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -6,188 +6,180 @@
import logging
from . import tmc, tmc_uart, tmc2130
-TMC_FREQUENCY=12000000.
+TMC_FREQUENCY = 12000000.0
Registers = {
- "GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
- "OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
- "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
- "VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
- "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
+ "GCONF": 0x00,
+ "GSTAT": 0x01,
+ "IFCNT": 0x02,
+ "SLAVECONF": 0x03,
+ "OTP_PROG": 0x04,
+ "OTP_READ": 0x05,
+ "IOIN": 0x06,
+ "FACTORY_CONF": 0x07,
+ "IHOLD_IRUN": 0x10,
+ "TPOWERDOWN": 0x11,
+ "TSTEP": 0x12,
+ "TPWMTHRS": 0x13,
+ "VACTUAL": 0x22,
+ "MSCNT": 0x6A,
+ "MSCURACT": 0x6B,
+ "CHOPCONF": 0x6C,
+ "DRV_STATUS": 0x6F,
+ "PWMCONF": 0x70,
+ "PWM_SCALE": 0x71,
+ "PWM_AUTO": 0x72,
}
ReadRegisters = [
- "GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
- "MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
- "PWMCONF", "PWM_SCALE", "PWM_AUTO"
+ "GCONF",
+ "GSTAT",
+ "IFCNT",
+ "OTP_READ",
+ "IOIN",
+ "FACTORY_CONF",
+ "TSTEP",
+ "MSCNT",
+ "MSCURACT",
+ "CHOPCONF",
+ "DRV_STATUS",
+ "PWMCONF",
+ "PWM_SCALE",
+ "PWM_AUTO",
]
Fields = {}
Fields["GCONF"] = {
- "i_scale_analog": 0x01,
- "internal_rsense": 0x01 << 1,
- "en_spreadcycle": 0x01 << 2,
- "shaft": 0x01 << 3,
- "index_otpw": 0x01 << 4,
- "index_step": 0x01 << 5,
- "pdn_disable": 0x01 << 6,
- "mstep_reg_select": 0x01 << 7,
- "multistep_filt": 0x01 << 8,
- "test_mode": 0x01 << 9
-}
-Fields["GSTAT"] = {
- "reset": 0x01,
- "drv_err": 0x01 << 1,
- "uv_cp": 0x01 << 2
-}
-Fields["IFCNT"] = {
- "ifcnt": 0xff
-}
-Fields["SLAVECONF"] = {
- "senddelay": 0x0f << 8
-}
-Fields["OTP_PROG"] = {
- "otpbit": 0x07,
- "otpbyte": 0x03 << 4,
- "otpmagic": 0xff << 8
+ "i_scale_analog": 0x01,
+ "internal_rsense": 0x01 << 1,
+ "en_spreadcycle": 0x01 << 2,
+ "shaft": 0x01 << 3,
+ "index_otpw": 0x01 << 4,
+ "index_step": 0x01 << 5,
+ "pdn_disable": 0x01 << 6,
+ "mstep_reg_select": 0x01 << 7,
+ "multistep_filt": 0x01 << 8,
+ "test_mode": 0x01 << 9,
}
+Fields["GSTAT"] = {"reset": 0x01, "drv_err": 0x01 << 1, "uv_cp": 0x01 << 2}
+Fields["IFCNT"] = {"ifcnt": 0xFF}
+Fields["SLAVECONF"] = {"senddelay": 0x0F << 8}
+Fields["OTP_PROG"] = {"otpbit": 0x07, "otpbyte": 0x03 << 4, "otpmagic": 0xFF << 8}
Fields["OTP_READ"] = {
- "otp_fclktrim": 0x1f,
- "otp_ottrim": 0x01 << 5,
- "otp_internalrsense": 0x01 << 6,
- "otp_tbl": 0x01 << 7,
- "otp_pwm_grad": 0x0f << 8,
- "otp_pwm_autograd": 0x01 << 12,
- "otp_tpwmthrs": 0x07 << 13,
- "otp_pwm_ofs": 0x01 << 16,
- "otp_pwm_reg": 0x01 << 17,
- "otp_pwm_freq": 0x01 << 18,
- "otp_iholddelay": 0x03 << 19,
- "otp_ihold": 0x03 << 21,
- "otp_en_spreadcycle": 0x01 << 23
+ "otp_fclktrim": 0x1F,
+ "otp_ottrim": 0x01 << 5,
+ "otp_internalrsense": 0x01 << 6,
+ "otp_tbl": 0x01 << 7,
+ "otp_pwm_grad": 0x0F << 8,
+ "otp_pwm_autograd": 0x01 << 12,
+ "otp_tpwmthrs": 0x07 << 13,
+ "otp_pwm_ofs": 0x01 << 16,
+ "otp_pwm_reg": 0x01 << 17,
+ "otp_pwm_freq": 0x01 << 18,
+ "otp_iholddelay": 0x03 << 19,
+ "otp_ihold": 0x03 << 21,
+ "otp_en_spreadcycle": 0x01 << 23,
}
# IOIN mapping depends on the driver type (SEL_A field)
# TMC222x (SEL_A == 0)
Fields["IOIN@TMC222x"] = {
- "pdn_uart": 0x01 << 1,
- "spread": 0x01 << 2,
- "dir": 0x01 << 3,
- "enn": 0x01 << 4,
- "step": 0x01 << 5,
- "ms1": 0x01 << 6,
- "ms2": 0x01 << 7,
- "sel_a": 0x01 << 8,
- "version": 0xff << 24
+ "pdn_uart": 0x01 << 1,
+ "spread": 0x01 << 2,
+ "dir": 0x01 << 3,
+ "enn": 0x01 << 4,
+ "step": 0x01 << 5,
+ "ms1": 0x01 << 6,
+ "ms2": 0x01 << 7,
+ "sel_a": 0x01 << 8,
+ "version": 0xFF << 24,
}
# TMC220x (SEL_A == 1)
Fields["IOIN@TMC220x"] = {
- "enn": 0x01,
- "ms1": 0x01 << 2,
- "ms2": 0x01 << 3,
- "diag": 0x01 << 4,
- "pdn_uart": 0x01 << 6,
- "step": 0x01 << 7,
- "sel_a": 0x01 << 8,
- "dir": 0x01 << 9,
- "version": 0xff << 24,
-}
-Fields["FACTORY_CONF"] = {
- "fclktrim": 0x1f,
- "ottrim": 0x03 << 8
-}
-Fields["IHOLD_IRUN"] = {
- "ihold": 0x1f,
- "irun": 0x1f << 8,
- "iholddelay": 0x0f << 16
-}
-Fields["TPOWERDOWN"] = {
- "tpowerdown": 0xff
-}
-Fields["TSTEP"] = {
- "tstep": 0xfffff
-}
-Fields["TPWMTHRS"] = {
- "tpwmthrs": 0xfffff
-}
-Fields["VACTUAL"] = {
- "vactual": 0xffffff
-}
-Fields["MSCNT"] = {
- "mscnt": 0x3ff
-}
-Fields["MSCURACT"] = {
- "cur_a": 0x1ff,
- "cur_b": 0x1ff << 16
+ "enn": 0x01,
+ "ms1": 0x01 << 2,
+ "ms2": 0x01 << 3,
+ "diag": 0x01 << 4,
+ "pdn_uart": 0x01 << 6,
+ "step": 0x01 << 7,
+ "sel_a": 0x01 << 8,
+ "dir": 0x01 << 9,
+ "version": 0xFF << 24,
}
+Fields["FACTORY_CONF"] = {"fclktrim": 0x1F, "ottrim": 0x03 << 8}
+Fields["IHOLD_IRUN"] = {"ihold": 0x1F, "irun": 0x1F << 8, "iholddelay": 0x0F << 16}
+Fields["TPOWERDOWN"] = {"tpowerdown": 0xFF}
+Fields["TSTEP"] = {"tstep": 0xFFFFF}
+Fields["TPWMTHRS"] = {"tpwmthrs": 0xFFFFF}
+Fields["VACTUAL"] = {"vactual": 0xFFFFFF}
+Fields["MSCNT"] = {"mscnt": 0x3FF}
+Fields["MSCURACT"] = {"cur_a": 0x1FF, "cur_b": 0x1FF << 16}
Fields["CHOPCONF"] = {
- "toff": 0x0f,
- "hstrt": 0x07 << 4,
- "hend": 0x0f << 7,
- "tbl": 0x03 << 15,
- "vsense": 0x01 << 17,
- "mres": 0x0f << 24,
- "intpol": 0x01 << 28,
- "dedge": 0x01 << 29,
- "diss2g": 0x01 << 30,
- "diss2vs": 0x01 << 31
+ "toff": 0x0F,
+ "hstrt": 0x07 << 4,
+ "hend": 0x0F << 7,
+ "tbl": 0x03 << 15,
+ "vsense": 0x01 << 17,
+ "mres": 0x0F << 24,
+ "intpol": 0x01 << 28,
+ "dedge": 0x01 << 29,
+ "diss2g": 0x01 << 30,
+ "diss2vs": 0x01 << 31,
}
Fields["DRV_STATUS"] = {
- "otpw": 0x01,
- "ot": 0x01 << 1,
- "s2ga": 0x01 << 2,
- "s2gb": 0x01 << 3,
- "s2vsa": 0x01 << 4,
- "s2vsb": 0x01 << 5,
- "ola": 0x01 << 6,
- "olb": 0x01 << 7,
- "t120": 0x01 << 8,
- "t143": 0x01 << 9,
- "t150": 0x01 << 10,
- "t157": 0x01 << 11,
- "cs_actual": 0x1f << 16,
- "stealth": 0x01 << 30,
- "stst": 0x01 << 31
+ "otpw": 0x01,
+ "ot": 0x01 << 1,
+ "s2ga": 0x01 << 2,
+ "s2gb": 0x01 << 3,
+ "s2vsa": 0x01 << 4,
+ "s2vsb": 0x01 << 5,
+ "ola": 0x01 << 6,
+ "olb": 0x01 << 7,
+ "t120": 0x01 << 8,
+ "t143": 0x01 << 9,
+ "t150": 0x01 << 10,
+ "t157": 0x01 << 11,
+ "cs_actual": 0x1F << 16,
+ "stealth": 0x01 << 30,
+ "stst": 0x01 << 31,
}
Fields["PWMCONF"] = {
- "pwm_ofs": 0xff,
- "pwm_grad": 0xff << 8,
- "pwm_freq": 0x03 << 16,
- "pwm_autoscale": 0x01 << 18,
- "pwm_autograd": 0x01 << 19,
- "freewheel": 0x03 << 20,
- "pwm_reg": 0xf << 24,
- "pwm_lim": 0xf << 28
-}
-Fields["PWM_SCALE"] = {
- "pwm_scale_sum": 0xff,
- "pwm_scale_auto": 0x1ff << 16
-}
-Fields["PWM_AUTO"] = {
- "pwm_ofs_auto": 0xff,
- "pwm_grad_auto": 0xff << 16
+ "pwm_ofs": 0xFF,
+ "pwm_grad": 0xFF << 8,
+ "pwm_freq": 0x03 << 16,
+ "pwm_autoscale": 0x01 << 18,
+ "pwm_autograd": 0x01 << 19,
+ "freewheel": 0x03 << 20,
+ "pwm_reg": 0xF << 24,
+ "pwm_lim": 0xF << 28,
}
+Fields["PWM_SCALE"] = {"pwm_scale_sum": 0xFF, "pwm_scale_auto": 0x1FF << 16}
+Fields["PWM_AUTO"] = {"pwm_ofs_auto": 0xFF, "pwm_grad_auto": 0xFF << 16}
SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
-FieldFormatters.update({
- "sel_a": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
- "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
- "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
-})
+FieldFormatters.update(
+ {
+ "sel_a": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
+ "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
+ "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
+ }
+)
######################################################################
# TMC2208 printer object
######################################################################
+
class TMC2208:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
- self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 0,
- TMC_FREQUENCY)
+ self.mcu_tmc = tmc_uart.MCU_TMC_uart(
+ config, Registers, self.fields, 0, TMC_FREQUENCY
+ )
self.fields.set_field("pdn_disable", True)
# Register commands
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
@@ -220,11 +212,13 @@ class TMC2208:
set_config_field(config, "pwm_lim", 12)
# TPOWERDOWN
set_config_field(config, "tpowerdown", 20)
+
def read_translate(self, reg_name, val):
if reg_name == "IOIN":
drv_type = self.fields.get_field("sel_a", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
return reg_name, val
+
def load_config_prefix(config):
return TMC2208(config)
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-08-31 19:48:11 +0000