diff options
Diffstat (limited to 'klippy/extras/tmc5160.py')
| -rw-r--r-- | klippy/extras/tmc5160.py | 127 |
1 files changed, 61 insertions, 66 deletions
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index 37678fa0..81b7f33c 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -1,13 +1,11 @@ # TMC5160 configuration # -# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# 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, tmc2130 -vsense = 0.325 -GLOBAL_SCALER = 256 TMC_FREQUENCY=12000000. Registers = { @@ -220,31 +218,69 @@ FieldFormatters.update({ "uv_cp": (lambda v: "1(Undervoltage!)" if v else ""), }) + ###################################################################### -# Config reading helpers +# TMC stepper current config helper ###################################################################### -def bits_to_current(bits, sense_resistor, vsense_on): - #current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.)) - current = (bits + 1) * (GLOBAL_SCALER *vsense) \ - / (32*GLOBAL_SCALER*math.sqrt(2.)*sense_resistor) - return round(current, 2) +VREF = 0.325 +MAX_CURRENT = 3.000 -def calc_current_config(run_current, hold_current, sense_resistor): - irun = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * run_current * \ - sense_resistor) / (GLOBAL_SCALER * vsense) -1 ) - ihold = int( (32 * GLOBAL_SCALER * math.sqrt(2.) * hold_current * \ - sense_resistor) / (GLOBAL_SCALER * vsense) -1 ) - return irun, ihold +class TMC5160CurrentHelper: + 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', run_current, + above=0., maxval=MAX_CURRENT) + self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.) + irun, ihold = self._calc_current(run_current, hold_current) + self.fields.set_field("IHOLD", ihold) + self.fields.set_field("IRUN", irun) + gcode = self.printer.lookup_object("gcode") + gcode.register_mux_command( + "SET_TMC_CURRENT", "STEPPER", self.name, + self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) + def _calc_current_bits(self, current): + cs = int(32. * current * self.sense_resistor * math.sqrt(2.) / VREF + - 1. + .5) + return max(0, min(31, cs)) + def _calc_current(self, run_current, hold_current): + irun = self._calc_current_bits(run_current) + ihold = self._calc_current_bits(hold_current) + return irun, ihold + def _calc_current_from_field(self, field_name): + bits = self.fields.get_field(field_name) + current = ((bits + 1) * VREF + / (32. * math.sqrt(2.) * self.sense_resistor)) + return round(current, 2) + cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver" + def cmd_SET_TMC_CURRENT(self, params): + gcode = self.printer.lookup_object('gcode') + if 'HOLDCURRENT' in params: + hold_current = gcode.get_float( + 'HOLDCURRENT', params, above=0., maxval=MAX_CURRENT) + else: + hold_current = self._calc_current_from_field("IHOLD") + if 'CURRENT' in params: + run_current = gcode.get_float( + 'CURRENT', params, minval=hold_current, maxval=MAX_CURRENT) + else: + run_current = self._calc_current_from_field("IRUN") + if 'HOLDCURRENT' not in params and 'CURRENT' not in params: + # Query only + gcode.respond_info("Run Current: %0.2fA Hold Current: %0.2fA" + % (run_current, hold_current)) + return + print_time = self.printer.lookup_object('toolhead').get_last_move_time() + irun, ihold = self._calc_current(run_current, hold_current) + self.fields.set_field("IHOLD", ihold) + val = self.fields.set_field("IRUN", irun) + self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time) -def get_config_current(config): - run_current = config.getfloat('run_current', above=0., maxval=3.) - hold_current = config.getfloat('hold_current', run_current, above=0.,\ - maxval=3.) - sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.) - irun, ihold = calc_current_config(run_current, hold_current,\ - sense_resistor) - return irun, ihold, sense_resistor ###################################################################### # TMC5160 printer object @@ -255,9 +291,7 @@ class TMC5160: self.printer = config.get_printer() self.name = config.get_name().split()[-1] # Setup mcu communication - self.regs = collections.OrderedDict() - self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters, - self.regs) + self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields) self.get_register = self.mcu_tmc.get_register self.set_register = self.mcu_tmc.set_register @@ -268,12 +302,7 @@ class TMC5160: # Register commands cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(self.query_registers) - gcode = self.printer.lookup_object("gcode") - gcode.register_mux_command( - "SET_TMC_CURRENT", "STEPPER", self.name, - self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) # Setup basic register values - irun, ihold, self.sense_resistor = get_config_current(config) msteps, en_pwm, thresh = \ tmc2130.get_config_stealthchop(config, TMC_FREQUENCY) set_config_field = self.fields.set_config_field @@ -304,8 +333,7 @@ class TMC5160: # GCONF self.fields.set_field("en_pwm_mode", en_pwm) # IHOLDIRUN - self.fields.set_field("IHOLD", ihold) - self.fields.set_field("IRUN", irun) + TMC5160CurrentHelper(config, self.mcu_tmc) set_config_field(config, "IHOLDDELAY", 6) # PWMCONF set_config_field(config, "PWM_OFS", 30) @@ -334,39 +362,6 @@ class TMC5160: def get_phase(self): mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) return mscnt >> self.fields.get_field("MRES") - cmd_SET_TMC_CURRENT_help = "Set the current of a TMC5160 driver" - def cmd_SET_TMC_CURRENT(self, params): - gcode = self.printer.lookup_object('gcode') - vsense = True - if 'HOLDCURRENT' in params: - hold_current = gcode.get_float( - 'HOLDCURRENT', params, above=0., maxval=3.) - else: - hold_current = bits_to_current( - self.fields.get_field("IHOLD"), - self.sense_resistor, - vsense) - if 'CURRENT' in params: - run_current = gcode.get_float( - 'CURRENT', params, minval=hold_current, maxval=2.) - else: - run_current = bits_to_current( - self.fields.get_field("IRUN"), - self.sense_resistor, - vsense) - if 'HOLDCURRENT' in params or 'CURRENT' in params: - print_time = self.printer.lookup_object('toolhead')\ - .get_last_move_time() - irun, ihold = calc_current_config(run_current, - hold_current, self.sense_resistor) - self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time) - self.fields.set_field("IHOLD", ihold) - self.fields.set_field("IRUN", irun) - self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], print_time) - else: - gcode.respond_info( - "Run Current: %0.2fA Hold Current: %0.2fA" - % (run_current, hold_current)) def load_config_prefix(config): return TMC5160(config) |