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-rw-r--r--klippy/extras/tmc5160.py457
1 files changed, 226 insertions, 231 deletions
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index b773135c..42161d8a 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -6,253 +6,230 @@
import math, logging
from . import bus, tmc, tmc2130
-TMC_FREQUENCY=12000000.
+TMC_FREQUENCY = 12000000.0
Registers = {
- "GCONF": 0x00,
- "GSTAT": 0x01,
- "IFCNT": 0x02,
- "SLAVECONF": 0x03,
- "IOIN": 0x04,
- "X_COMPARE": 0x05,
- "OTP_READ": 0x07,
- "FACTORY_CONF": 0x08,
- "SHORT_CONF": 0x09,
- "DRV_CONF": 0x0A,
- "GLOBALSCALER": 0x0B,
- "OFFSET_READ": 0x0C,
- "IHOLD_IRUN": 0x10,
- "TPOWERDOWN": 0x11,
- "TSTEP": 0x12,
- "TPWMTHRS": 0x13,
- "TCOOLTHRS": 0x14,
- "THIGH": 0x15,
- "RAMPMODE": 0x20,
- "XACTUAL": 0x21,
- "VACTUAL": 0x22,
- "VSTART": 0x23,
- "A1": 0x24,
- "V1": 0x25,
- "AMAX": 0x26,
- "VMAX": 0x27,
- "DMAX": 0x28,
- "D1": 0x2A,
- "VSTOP": 0x2B,
- "TZEROWAIT": 0x2C,
- "XTARGET": 0x2D,
- "VDCMIN": 0x33,
- "SW_MODE": 0x34,
- "RAMP_STAT": 0x35,
- "XLATCH": 0x36,
- "ENCMODE": 0x38,
- "X_ENC": 0x39,
- "ENC_CONST": 0x3A,
- "ENC_STATUS": 0x3B,
- "ENC_LATCH": 0x3C,
- "ENC_DEVIATION": 0x3D,
- "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,
- "PWM_AUTO": 0x72,
- "LOST_STEPS": 0x73,
+ "GCONF": 0x00,
+ "GSTAT": 0x01,
+ "IFCNT": 0x02,
+ "SLAVECONF": 0x03,
+ "IOIN": 0x04,
+ "X_COMPARE": 0x05,
+ "OTP_READ": 0x07,
+ "FACTORY_CONF": 0x08,
+ "SHORT_CONF": 0x09,
+ "DRV_CONF": 0x0A,
+ "GLOBALSCALER": 0x0B,
+ "OFFSET_READ": 0x0C,
+ "IHOLD_IRUN": 0x10,
+ "TPOWERDOWN": 0x11,
+ "TSTEP": 0x12,
+ "TPWMTHRS": 0x13,
+ "TCOOLTHRS": 0x14,
+ "THIGH": 0x15,
+ "RAMPMODE": 0x20,
+ "XACTUAL": 0x21,
+ "VACTUAL": 0x22,
+ "VSTART": 0x23,
+ "A1": 0x24,
+ "V1": 0x25,
+ "AMAX": 0x26,
+ "VMAX": 0x27,
+ "DMAX": 0x28,
+ "D1": 0x2A,
+ "VSTOP": 0x2B,
+ "TZEROWAIT": 0x2C,
+ "XTARGET": 0x2D,
+ "VDCMIN": 0x33,
+ "SW_MODE": 0x34,
+ "RAMP_STAT": 0x35,
+ "XLATCH": 0x36,
+ "ENCMODE": 0x38,
+ "X_ENC": 0x39,
+ "ENC_CONST": 0x3A,
+ "ENC_STATUS": 0x3B,
+ "ENC_LATCH": 0x3C,
+ "ENC_DEVIATION": 0x3D,
+ "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,
+ "PWM_AUTO": 0x72,
+ "LOST_STEPS": 0x73,
}
ReadRegisters = [
- "GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
- "LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWM_SCALE",
- "PWM_AUTO", "TSTEP"
+ "GCONF",
+ "CHOPCONF",
+ "GSTAT",
+ "DRV_STATUS",
+ "FACTORY_CONF",
+ "IOIN",
+ "LOST_STEPS",
+ "MSCNT",
+ "MSCURACT",
+ "OTP_READ",
+ "PWM_SCALE",
+ "PWM_AUTO",
+ "TSTEP",
]
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_CONF"] = {
- "bbmtime": 0x1F << 0,
- "bbmclks": 0x0F << 8,
- "otselect": 0x03 << 16,
- "drvstrength": 0x03 << 18,
- "filt_isense": 0x03 << 20,
+ "bbmtime": 0x1F << 0,
+ "bbmclks": 0x0F << 8,
+ "otselect": 0x03 << 16,
+ "drvstrength": 0x03 << 18,
+ "filt_isense": 0x03 << 20,
}
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
-}
-Fields["FACTORY_CONF"] = {
- "factory_conf": 0x1F << 0
+ "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["FACTORY_CONF"] = {"factory_conf": 0x1F << 0}
Fields["GCONF"] = {
- "recalibrate": 0x01 << 0,
- "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,
- "diag1_steps_skipped": 0x01 << 11,
- "diag0_int_pushpull": 0x01 << 12,
- "diag1_poscomp_pushpull": 0x01 << 13,
- "small_hysteresis": 0x01 << 14,
- "stop_enable": 0x01 << 15,
- "direct_mode": 0x01 << 16,
- "test_mode": 0x01 << 17
-}
-Fields["GSTAT"] = {
- "reset": 0x01 << 0,
- "drv_err": 0x01 << 1,
- "uv_cp": 0x01 << 2
-}
-Fields["GLOBALSCALER"] = {
- "globalscaler": 0xFF << 0
-}
-Fields["IHOLD_IRUN"] = {
- "ihold": 0x1F << 0,
- "irun": 0x1F << 8,
- "iholddelay": 0x0F << 16
+ "recalibrate": 0x01 << 0,
+ "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,
+ "diag1_steps_skipped": 0x01 << 11,
+ "diag0_int_pushpull": 0x01 << 12,
+ "diag1_poscomp_pushpull": 0x01 << 13,
+ "small_hysteresis": 0x01 << 14,
+ "stop_enable": 0x01 << 15,
+ "direct_mode": 0x01 << 16,
+ "test_mode": 0x01 << 17,
}
+Fields["GSTAT"] = {"reset": 0x01 << 0, "drv_err": 0x01 << 1, "uv_cp": 0x01 << 2}
+Fields["GLOBALSCALER"] = {"globalscaler": 0xFF << 0}
+Fields["IHOLD_IRUN"] = {"ihold": 0x1F << 0, "irun": 0x1F << 8, "iholddelay": 0x0F << 16}
Fields["IOIN"] = {
- "refl_step": 0x01 << 0,
- "refr_dir": 0x01 << 1,
- "encb_dcen_cfg4": 0x01 << 2,
- "enca_dcin_cfg5": 0x01 << 3,
- "drv_enn": 0x01 << 4,
- "enc_n_dco_cfg6": 0x01 << 5,
- "sd_mode": 0x01 << 6,
- "swcomp_in": 0x01 << 7,
- "version": 0xFF << 24
-}
-Fields["LOST_STEPS"] = {
- "lost_steps": 0xfffff << 0
+ "refl_step": 0x01 << 0,
+ "refr_dir": 0x01 << 1,
+ "encb_dcen_cfg4": 0x01 << 2,
+ "enca_dcin_cfg5": 0x01 << 3,
+ "drv_enn": 0x01 << 4,
+ "enc_n_dco_cfg6": 0x01 << 5,
+ "sd_mode": 0x01 << 6,
+ "swcomp_in": 0x01 << 7,
+ "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["LOST_STEPS"] = {"lost_steps": 0xFFFFF << 0}
+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,
-}
-Fields["MSCNT"] = {
- "mscnt": 0x3ff << 0
-}
-Fields["MSCURACT"] = {
- "cur_a": 0x1ff << 0,
- "cur_b": 0x1ff << 16
+ "start_sin": 0xFF << 0,
+ "start_sin90": 0xFF << 16,
}
+Fields["MSCNT"] = {"mscnt": 0x3FF << 0}
+Fields["MSCURACT"] = {"cur_a": 0x1FF << 0, "cur_b": 0x1FF << 16}
Fields["OTP_READ"] = {
- "otp_fclktrim": 0x1f << 0,
- "otp_s2_level": 0x01 << 5,
- "otp_bbm": 0x01 << 6,
- "otp_tbl": 0x01 << 7
-}
-Fields["PWM_AUTO"] = {
- "pwm_ofs_auto": 0xff << 0,
- "pwm_grad_auto": 0xff << 16
+ "otp_fclktrim": 0x1F << 0,
+ "otp_s2_level": 0x01 << 5,
+ "otp_bbm": 0x01 << 6,
+ "otp_tbl": 0x01 << 7,
}
+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_reg": 0x0F << 24,
- "pwm_lim": 0x0F << 28
-}
-Fields["PWM_SCALE"] = {
- "pwm_scale_sum": 0xff << 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
+ "pwm_ofs": 0xFF << 0,
+ "pwm_grad": 0xFF << 8,
+ "pwm_freq": 0x03 << 16,
+ "pwm_autoscale": 0x01 << 18,
+ "pwm_autograd": 0x01 << 19,
+ "freewheel": 0x03 << 20,
+ "pwm_reg": 0x0F << 24,
+ "pwm_lim": 0x0F << 28,
}
+Fields["PWM_SCALE"] = {"pwm_scale_sum": 0xFF << 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}
SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
-FieldFormatters.update({
- "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
- "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
-})
+FieldFormatters.update(
+ {
+ "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""),
+ "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""),
+ }
+)
######################################################################
@@ -260,7 +237,8 @@ FieldFormatters.update({
######################################################################
VREF = 0.325
-MAX_CURRENT = 10.000 # Maximum dependent on board, but 10 is safe sanity check
+MAX_CURRENT = 10.000 # Maximum dependent on board, but 10 is safe sanity check
+
class TMC5160CurrentHelper:
def __init__(self, config, mcu_tmc):
@@ -268,46 +246,60 @@ class TMC5160CurrentHelper:
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', 0.075, above=0.)
+ self.sense_resistor = config.getfloat("sense_resistor", 0.075, above=0.0)
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("globalscaler", gscaler)
self.fields.set_field("ihold", ihold)
self.fields.set_field("irun", irun)
+
def _calc_globalscaler(self, current):
- globalscaler = int((current * 256. * math.sqrt(2.)
- * self.sense_resistor / VREF) + .5)
+ globalscaler = int(
+ (current * 256.0 * math.sqrt(2.0) * self.sense_resistor / VREF) + 0.5
+ )
globalscaler = max(32, globalscaler)
if globalscaler >= 256:
globalscaler = 0
return globalscaler
+
def _calc_current_bits(self, current, globalscaler):
if not globalscaler:
globalscaler = 256
- cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
- / (globalscaler * VREF)
- - 1. + .5)
+ cs = int(
+ (current * 256.0 * 32.0 * math.sqrt(2.0) * self.sense_resistor)
+ / (globalscaler * VREF)
+ - 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):
globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
bits = self.fields.get_field(field_name)
- return (globalscaler * (bits + 1) * VREF
- / (256. * 32. * math.sqrt(2.) * self.sense_resistor))
+ return (
+ globalscaler
+ * (bits + 1)
+ * VREF
+ / (256.0 * 32.0 * math.sqrt(2.0) * self.sense_resistor)
+ )
+
def get_current(self):
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, MAX_CURRENT
+
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)
@@ -322,12 +314,14 @@ class TMC5160CurrentHelper:
# TMC5160 printer object
######################################################################
+
class TMC5160:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
- 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
@@ -359,7 +353,7 @@ class TMC5160:
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
- set_config_field(config, "semin", 0) # page 52
+ set_config_field(config, "semin", 0) # page 52
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
@@ -385,5 +379,6 @@ class TMC5160:
# TPOWERDOWN
set_config_field(config, "tpowerdown", 10)
+
def load_config_prefix(config):
return TMC5160(config)
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-08-31 19:49:04 +0000