diff options
Diffstat (limited to 'klippy/extras/tmc2240.py')
| -rw-r--r-- | klippy/extras/tmc2240.py | 462 |
1 files changed, 232 insertions, 230 deletions
diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py index 214896e7..b6d13935 100644 --- a/klippy/extras/tmc2240.py +++ b/klippy/extras/tmc2240.py @@ -7,279 +7,269 @@ import math, logging from . import bus, tmc, tmc2130, tmc_uart -TMC_FREQUENCY=12500000. +TMC_FREQUENCY = 12500000.0 Registers = { - "GCONF": 0x00, - "GSTAT": 0x01, - "IFCNT": 0x02, - "NODECONF": 0x03, - "IOIN": 0x04, - "DRV_CONF": 0x0A, - "GLOBALSCALER": 0x0B, - "IHOLD_IRUN": 0x10, - "TPOWERDOWN": 0x11, - "TSTEP": 0x12, - "TPWMTHRS": 0x13, - "TCOOLTHRS": 0x14, - "THIGH": 0x15, - "DIRECT_MODE": 0x2D, - "ENCMODE": 0x38, - "X_ENC": 0x39, - "ENC_CONST": 0x3A, - "ENC_STATUS": 0x3B, - "ENC_LATCH": 0x3C, - "ADC_VSUPPLY_AIN": 0x50, - "ADC_TEMP": 0x51, - "OTW_OV_VTH": 0x52, - "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, - "DRV_STATUS": 0x6F, - "PWMCONF": 0x70, - "PWM_SCALE": 0x71, - "PWM_AUTO": 0x72, - "SG4_THRS": 0x74, - "SG4_RESULT": 0x75, - "SG4_IND": 0x76, + "GCONF": 0x00, + "GSTAT": 0x01, + "IFCNT": 0x02, + "NODECONF": 0x03, + "IOIN": 0x04, + "DRV_CONF": 0x0A, + "GLOBALSCALER": 0x0B, + "IHOLD_IRUN": 0x10, + "TPOWERDOWN": 0x11, + "TSTEP": 0x12, + "TPWMTHRS": 0x13, + "TCOOLTHRS": 0x14, + "THIGH": 0x15, + "DIRECT_MODE": 0x2D, + "ENCMODE": 0x38, + "X_ENC": 0x39, + "ENC_CONST": 0x3A, + "ENC_STATUS": 0x3B, + "ENC_LATCH": 0x3C, + "ADC_VSUPPLY_AIN": 0x50, + "ADC_TEMP": 0x51, + "OTW_OV_VTH": 0x52, + "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, + "DRV_STATUS": 0x6F, + "PWMCONF": 0x70, + "PWM_SCALE": 0x71, + "PWM_AUTO": 0x72, + "SG4_THRS": 0x74, + "SG4_RESULT": 0x75, + "SG4_IND": 0x76, } ReadRegisters = [ - "GCONF", "GSTAT", "IOIN", "DRV_CONF", "GLOBALSCALER", "IHOLD_IRUN", - "TPOWERDOWN", "TSTEP", "TPWMTHRS", "TCOOLTHRS", "THIGH", "ADC_VSUPPLY_AIN", - "ADC_TEMP", "MSCNT", "MSCURACT", "CHOPCONF", "COOLCONF", "DRV_STATUS", - "PWMCONF", "PWM_SCALE", "PWM_AUTO", "SG4_THRS", "SG4_RESULT", "SG4_IND" + "GCONF", + "GSTAT", + "IOIN", + "DRV_CONF", + "GLOBALSCALER", + "IHOLD_IRUN", + "TPOWERDOWN", + "TSTEP", + "TPWMTHRS", + "TCOOLTHRS", + "THIGH", + "ADC_VSUPPLY_AIN", + "ADC_TEMP", + "MSCNT", + "MSCURACT", + "CHOPCONF", + "COOLCONF", + "DRV_STATUS", + "PWMCONF", + "PWM_SCALE", + "PWM_AUTO", + "SG4_THRS", + "SG4_RESULT", + "SG4_IND", ] Fields = {} Fields["COOLCONF"] = { - "semin": 0x0F << 0, - "seup": 0x03 << 5, - "semax": 0x0F << 8, - "sedn": 0x03 << 13, - "seimin": 0x01 << 15, - "sgt": 0x7F << 16, - "sfilt": 0x01 << 24 + "semin": 0x0F << 0, + "seup": 0x03 << 5, + "semax": 0x0F << 8, + "sedn": 0x03 << 13, + "seimin": 0x01 << 15, + "sgt": 0x7F << 16, + "sfilt": 0x01 << 24, } Fields["CHOPCONF"] = { - "toff": 0x0F << 0, - "hstrt": 0x07 << 4, - "hend": 0x0F << 7, - "fd3": 0x01 << 11, - "disfdcc": 0x01 << 12, - "chm": 0x01 << 14, - "tbl": 0x03 << 15, - "vhighfs": 0x01 << 18, - "vhighchm": 0x01 << 19, - "tpfd": 0x0F << 20, # midrange resonances - "mres": 0x0F << 24, - "intpol": 0x01 << 28, - "dedge": 0x01 << 29, - "diss2g": 0x01 << 30, - "diss2vs": 0x01 << 31 + "toff": 0x0F << 0, + "hstrt": 0x07 << 4, + "hend": 0x0F << 7, + "fd3": 0x01 << 11, + "disfdcc": 0x01 << 12, + "chm": 0x01 << 14, + "tbl": 0x03 << 15, + "vhighfs": 0x01 << 18, + "vhighchm": 0x01 << 19, + "tpfd": 0x0F << 20, # midrange resonances + "mres": 0x0F << 24, + "intpol": 0x01 << 28, + "dedge": 0x01 << 29, + "diss2g": 0x01 << 30, + "diss2vs": 0x01 << 31, } Fields["DRV_STATUS"] = { - "sg_result": 0x3FF << 0, - "s2vsa": 0x01 << 12, - "s2vsb": 0x01 << 13, - "stealth": 0x01 << 14, - "fsactive": 0x01 << 15, - "cs_actual": 0x1F << 16, - "stallguard": 0x01 << 24, - "ot": 0x01 << 25, - "otpw": 0x01 << 26, - "s2ga": 0x01 << 27, - "s2gb": 0x01 << 28, - "ola": 0x01 << 29, - "olb": 0x01 << 30, - "stst": 0x01 << 31 + "sg_result": 0x3FF << 0, + "s2vsa": 0x01 << 12, + "s2vsb": 0x01 << 13, + "stealth": 0x01 << 14, + "fsactive": 0x01 << 15, + "cs_actual": 0x1F << 16, + "stallguard": 0x01 << 24, + "ot": 0x01 << 25, + "otpw": 0x01 << 26, + "s2ga": 0x01 << 27, + "s2gb": 0x01 << 28, + "ola": 0x01 << 29, + "olb": 0x01 << 30, + "stst": 0x01 << 31, } Fields["GCONF"] = { - "faststandstill": 0x01 << 1, - "en_pwm_mode": 0x01 << 2, - "multistep_filt": 0x01 << 3, - "shaft": 0x01 << 4, - "diag0_error": 0x01 << 5, - "diag0_otpw": 0x01 << 6, - "diag0_stall": 0x01 << 7, - "diag1_stall": 0x01 << 8, - "diag1_index": 0x01 << 9, - "diag1_onstate": 0x01 << 10, - "diag0_pushpull": 0x01 << 12, - "diag1_pushpull": 0x01 << 13, - "small_hysteresis": 0x01 << 14, - "stop_enable": 0x01 << 15, - "direct_mode": 0x01 << 16 + "faststandstill": 0x01 << 1, + "en_pwm_mode": 0x01 << 2, + "multistep_filt": 0x01 << 3, + "shaft": 0x01 << 4, + "diag0_error": 0x01 << 5, + "diag0_otpw": 0x01 << 6, + "diag0_stall": 0x01 << 7, + "diag1_stall": 0x01 << 8, + "diag1_index": 0x01 << 9, + "diag1_onstate": 0x01 << 10, + "diag0_pushpull": 0x01 << 12, + "diag1_pushpull": 0x01 << 13, + "small_hysteresis": 0x01 << 14, + "stop_enable": 0x01 << 15, + "direct_mode": 0x01 << 16, } Fields["GSTAT"] = { - "reset": 0x01 << 0, - "drv_err": 0x01 << 1, - "uv_cp": 0x01 << 2, - "register_reset": 0x01 << 3, - "vm_uvlo": 0x01 << 4 -} -Fields["GLOBALSCALER"] = { - "globalscaler": 0xFF << 0 + "reset": 0x01 << 0, + "drv_err": 0x01 << 1, + "uv_cp": 0x01 << 2, + "register_reset": 0x01 << 3, + "vm_uvlo": 0x01 << 4, } +Fields["GLOBALSCALER"] = {"globalscaler": 0xFF << 0} Fields["IHOLD_IRUN"] = { - "ihold": 0x1F << 0, - "irun": 0x1F << 8, - "iholddelay": 0x0F << 16, - "irundelay": 0x0F << 24 + "ihold": 0x1F << 0, + "irun": 0x1F << 8, + "iholddelay": 0x0F << 16, + "irundelay": 0x0F << 24, } Fields["IOIN"] = { - "step": 0x01 << 0, - "dir": 0x01 << 1, - "encb": 0x01 << 2, - "enca": 0x01 << 3, - "drv_enn": 0x01 << 4, - "encn": 0x01 << 5, - "uart_en": 0x01 << 6, - "comp_a": 0x01 << 8, - "comp_b": 0x01 << 9, - "comp_a1_a2": 0x01 << 10, - "comp_b1_b2": 0x01 << 11, - "output": 0x01 << 12, - "ext_res_det": 0x01 << 13, - "ext_clk": 0x01 << 14, - "adc_err": 0x01 << 15, - "silicon_rv": 0x07 << 16, - "version": 0xFF << 24 + "step": 0x01 << 0, + "dir": 0x01 << 1, + "encb": 0x01 << 2, + "enca": 0x01 << 3, + "drv_enn": 0x01 << 4, + "encn": 0x01 << 5, + "uart_en": 0x01 << 6, + "comp_a": 0x01 << 8, + "comp_b": 0x01 << 9, + "comp_a1_a2": 0x01 << 10, + "comp_b1_b2": 0x01 << 11, + "output": 0x01 << 12, + "ext_res_det": 0x01 << 13, + "ext_clk": 0x01 << 14, + "adc_err": 0x01 << 15, + "silicon_rv": 0x07 << 16, + "version": 0xFF << 24, } -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["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, - "offset_sin90": 0xFF << 24, -} -Fields["MSCNT"] = { - "mscnt": 0x3ff << 0 -} -Fields["MSCURACT"] = { - "cur_a": 0x1ff << 0, - "cur_b": 0x1ff << 16 -} -Fields["PWM_AUTO"] = { - "pwm_ofs_auto": 0xff << 0, - "pwm_grad_auto": 0xff << 16 + "start_sin": 0xFF << 0, + "start_sin90": 0xFF << 16, + "offset_sin90": 0xFF << 24, } +Fields["MSCNT"] = {"mscnt": 0x3FF << 0} +Fields["MSCURACT"] = {"cur_a": 0x1FF << 0, "cur_b": 0x1FF << 16} +Fields["PWM_AUTO"] = {"pwm_ofs_auto": 0xFF << 0, "pwm_grad_auto": 0xFF << 16} Fields["PWMCONF"] = { - "pwm_ofs": 0xFF << 0, - "pwm_grad": 0xFF << 8, - "pwm_freq": 0x03 << 16, - "pwm_autoscale": 0x01 << 18, - "pwm_autograd": 0x01 << 19, - "freewheel": 0x03 << 20, - "pwm_meas_sd_enable": 0x01 << 22, - "pwm_dis_reg_stst": 0x01 << 23, - "pwm_reg": 0x0F << 24, - "pwm_lim": 0x0F << 28 -} -Fields["PWM_SCALE"] = { - "pwm_scale_sum": 0x3ff << 0, - "pwm_scale_auto": 0x1ff << 16 -} -Fields["TPOWERDOWN"] = { - "tpowerdown": 0xff << 0 -} -Fields["TPWMTHRS"] = { - "tpwmthrs": 0xfffff << 0 -} -Fields["TCOOLTHRS"] = { - "tcoolthrs": 0xfffff << 0 -} -Fields["TSTEP"] = { - "tstep": 0xfffff << 0 -} -Fields["THIGH"] = { - "thigh": 0xfffff << 0 -} -Fields["DRV_CONF"] = { - "current_range": 0x03 << 0, - "slope_control": 0x03 << 4 -} -Fields["ADC_VSUPPLY_AIN"] = { - "adc_vsupply": 0x1fff << 0, - "adc_ain": 0x1fff << 16 -} -Fields["ADC_TEMP"] = { - "adc_temp": 0x1fff << 0 + "pwm_ofs": 0xFF << 0, + "pwm_grad": 0xFF << 8, + "pwm_freq": 0x03 << 16, + "pwm_autoscale": 0x01 << 18, + "pwm_autograd": 0x01 << 19, + "freewheel": 0x03 << 20, + "pwm_meas_sd_enable": 0x01 << 22, + "pwm_dis_reg_stst": 0x01 << 23, + "pwm_reg": 0x0F << 24, + "pwm_lim": 0x0F << 28, } +Fields["PWM_SCALE"] = {"pwm_scale_sum": 0x3FF << 0, "pwm_scale_auto": 0x1FF << 16} +Fields["TPOWERDOWN"] = {"tpowerdown": 0xFF << 0} +Fields["TPWMTHRS"] = {"tpwmthrs": 0xFFFFF << 0} +Fields["TCOOLTHRS"] = {"tcoolthrs": 0xFFFFF << 0} +Fields["TSTEP"] = {"tstep": 0xFFFFF << 0} +Fields["THIGH"] = {"thigh": 0xFFFFF << 0} +Fields["DRV_CONF"] = {"current_range": 0x03 << 0, "slope_control": 0x03 << 4} +Fields["ADC_VSUPPLY_AIN"] = {"adc_vsupply": 0x1FFF << 0, "adc_ain": 0x1FFF << 16} +Fields["ADC_TEMP"] = {"adc_temp": 0x1FFF << 0} Fields["OTW_OV_VTH"] = { - "overvoltage_vth": 0x1fff << 0, - "overtempprewarning_vth": 0x1fff << 16 + "overvoltage_vth": 0x1FFF << 0, + "overtempprewarning_vth": 0x1FFF << 16, } Fields["SG4_THRS"] = { - "sg4_thrs": 0xFF << 0, - "sg4_filt_en": 0x01 << 8, - "sg4_angle_offset": 0x01 << 9 -} -Fields["SG4_RESULT"] = { - "sg4_result": 0x3FF << 0 + "sg4_thrs": 0xFF << 0, + "sg4_filt_en": 0x01 << 8, + "sg4_angle_offset": 0x01 << 9, } +Fields["SG4_RESULT"] = {"sg4_result": 0x3FF << 0} Fields["SG4_IND"] = { - "sg4_ind_0": 0xFF << 0, - "sg4_ind_1": 0xFF << 8, - "sg4_ind_2": 0xFF << 16, - "sg4_ind_3": 0xFF << 24 + "sg4_ind_0": 0xFF << 0, + "sg4_ind_1": 0xFF << 8, + "sg4_ind_2": 0xFF << 16, + "sg4_ind_3": 0xFF << 24, } SignedFields = ["cur_a", "cur_b", "sgt", "pwm_scale_auto", "offset_sin90"] FieldFormatters = dict(tmc2130.FieldFormatters) -FieldFormatters.update({ - "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""), - "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""), - "adc_temp": (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))), - "adc_vsupply": (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)), - "adc_ain": (lambda v: "0x%04x(%.3fmV)" % (v, v * 0.3052)), -}) +FieldFormatters.update( + { + "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""), + "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""), + "adc_temp": (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))), + "adc_vsupply": (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)), + "adc_ain": (lambda v: "0x%04x(%.3fmV)" % (v, v * 0.3052)), + } +) ###################################################################### # TMC stepper current config helper ###################################################################### + class TMC2240CurrentHelper: 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.Rref = config.getfloat('rref', 12000., - minval=12000., maxval=60000.) + self.Rref = config.getfloat("rref", 12000.0, minval=12000.0, maxval=60000.0) max_cur = self._get_ifs_rms(3) - run_current = config.getfloat('run_current', above=0., maxval=max_cur) - hold_current = config.getfloat('hold_current', max_cur, - above=0., maxval=max_cur) + run_current = config.getfloat("run_current", above=0.0, maxval=max_cur) + hold_current = config.getfloat( + "hold_current", max_cur, above=0.0, maxval=max_cur + ) self.req_hold_current = hold_current current_range = self._calc_current_range(run_current) self.fields.set_field("current_range", current_range) @@ -287,46 +277,54 @@ class TMC2240CurrentHelper: self.fields.set_field("globalscaler", gscaler) self.fields.set_field("ihold", ihold) self.fields.set_field("irun", irun) + def _get_ifs_rms(self, current_range=None): if current_range is None: current_range = self.fields.get_field("current_range") - KIFS = [11750., 24000., 36000., 36000.] - return (KIFS[current_range] / self.Rref) / math.sqrt(2.) + KIFS = [11750.0, 24000.0, 36000.0, 36000.0] + return (KIFS[current_range] / self.Rref) / math.sqrt(2.0) + def _calc_current_range(self, current): for current_range in range(4): if current <= self._get_ifs_rms(current_range): break return current_range + def _calc_globalscaler(self, current): ifs_rms = self._get_ifs_rms() - globalscaler = int(((current * 256.) / ifs_rms) + .5) + globalscaler = int(((current * 256.0) / ifs_rms) + 0.5) globalscaler = max(32, globalscaler) if globalscaler >= 256: globalscaler = 0 return globalscaler + def _calc_current_bits(self, current, globalscaler): ifs_rms = self._get_ifs_rms() if not globalscaler: globalscaler = 256 - cs = int((current * 256. * 32.) / (globalscaler * ifs_rms) - 1. + .5) + cs = int((current * 256.0 * 32.0) / (globalscaler * ifs_rms) - 1.0 + 0.5) return max(0, min(31, cs)) + def _calc_current(self, run_current, hold_current): gscaler = self._calc_globalscaler(run_current) irun = self._calc_current_bits(run_current, gscaler) ihold = self._calc_current_bits(min(hold_current, run_current), gscaler) return gscaler, irun, ihold + def _calc_current_from_field(self, field_name): ifs_rms = self._get_ifs_rms() globalscaler = self.fields.get_field("globalscaler") if not globalscaler: globalscaler = 256 bits = self.fields.get_field(field_name) - return globalscaler * (bits + 1) * ifs_rms / (256. * 32.) + return globalscaler * (bits + 1) * ifs_rms / (256.0 * 32.0) + def get_current(self): ifs_rms = self._get_ifs_rms() run_current = self._calc_current_from_field("irun") hold_current = self._calc_current_from_field("ihold") return (run_current, hold_current, self.req_hold_current, ifs_rms) + def set_current(self, run_current, hold_current, print_time): self.req_hold_current = hold_current gscaler, irun, ihold = self._calc_current(run_current, hold_current) @@ -341,18 +339,21 @@ class TMC2240CurrentHelper: # TMC2240 printer object ###################################################################### + class TMC2240: def __init__(self, config): # Setup mcu communication self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) if config.get("uart_pin", None) is not None: # use UART for communication - self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, - 7, TMC_FREQUENCY) + self.mcu_tmc = tmc_uart.MCU_TMC_uart( + config, Registers, self.fields, 7, TMC_FREQUENCY + ) else: # Use SPI bus for communication - self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields, - TMC_FREQUENCY) + self.mcu_tmc = tmc2130.MCU_TMC_SPI( + config, Registers, self.fields, TMC_FREQUENCY + ) # Allow virtual pins to be created tmc.TMCVirtualPinHelper(config, self.mcu_tmc) # Register commands @@ -411,5 +412,6 @@ class TMC2240: # DRV_CONF set_config_field(config, "slope_control", 0) + def load_config_prefix(config): return TMC2240(config) |