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-rw-r--r--klippy/extras/tmc5160.py437
1 files changed, 437 insertions, 0 deletions
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
new file mode 100644
index 00000000..25958fa6
--- /dev/null
+++ b/klippy/extras/tmc5160.py
@@ -0,0 +1,437 @@
+# TMC5160 configuration
+#
+# Copyright (C) 2018 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 = {
+ "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 ,
+ "GLOBAL_SCALER": 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", "PWMCONF", "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
+}
+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
+}
+fields["DRV_STATUS"] = {
+ "SG_RESULT": 0x3FF << 0,
+ "s2vsa": 0x01 << 12,
+ "s2vsb": 0x01 << 13,
+ "stealth": 0x01 << 14,
+ "fsactive": 0x01 << 15,
+ "CSACTUAL": 0xFF << 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["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
+}
+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
+}
+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["TSTEP"] = {
+ "TSTEP": 0xfffff << 0
+}
+
+FieldFormatters = dict(tmc2130.FieldFormatters)
+
+FieldFormatters.update({
+ "reset": (lambda v: "1(reset)" if v else ""),
+ "drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
+ "uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
+})
+
+######################################################################
+# Config reading helpers
+######################################################################
+
+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)
+
+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
+
+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
+######################################################################
+
+class TMC5160:
+ def __init__(self, config):
+ self.printer = config.get_printer()
+ self.name = config.get_name().split()[-1]
+ self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=100000)
+ # Allow virtual endstop to be created
+ self.diag1_pin = config.get('diag1_pin', None)
+ ppins = self.printer.lookup_object("pins")
+ ppins.register_chip("tmc5160_" + self.name, self)
+ # Add DUMP_TMC, INIT_TMC command
+ 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)
+ gcode.register_mux_command(
+ "DUMP_TMC", "STEPPER", self.name,
+ self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
+ gcode.register_mux_command(
+ "SET_TMC_FIELD", "STEPPER", self.name,
+ self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
+ gcode.register_mux_command(
+ "INIT_TMC", "STEPPER", self.name,
+ self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
+ # Setup basic register values
+ self.regs = collections.OrderedDict()
+ self.fields = tmc2130.FieldHelper(fields, FieldFormatters, self.regs)
+ 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
+ # CHOPCONF
+ set_config_field(config, "toff", 3)
+ set_config_field(config, "hstrt", 5)
+ set_config_field(config, "hend", 2)
+ set_config_field(config, "fd3", 0)
+ set_config_field(config, "disfdcc", 0)
+ set_config_field(config, "chm", 0)
+ set_config_field(config, "tbl", 2)
+ set_config_field(config, "vhighfs", 0)
+ set_config_field(config, "vhighchm", 0)
+ set_config_field(config, "tpfd", 4)
+ self.fields.set_field("mres", msteps) # microsteps
+ set_config_field(config, "intpol", True, "interpolate")
+ set_config_field(config, "dedge", 0)
+ 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, "seup", 0)
+ set_config_field(config, "semax", 0)
+ set_config_field(config, "sedn", 0)
+ set_config_field(config, "seimin", 0)
+ set_config_field(config, "sgt", 0)
+ set_config_field(config, "sfilt", 0)
+ # GCONF
+ self.fields.set_field("en_pwm_mode", en_pwm)
+ # IHOLDIRUN
+ self.fields.set_field("IHOLD", ihold)
+ self.fields.set_field("IRUN", irun)
+ set_config_field(config, "IHOLDDELAY", 6)
+ # PWMCONF
+ set_config_field(config, "PWM_OFS", 30)
+ set_config_field(config, "PWM_GRAD", 0)
+ set_config_field(config, "pwm_freq", 1)
+ set_config_field(config, "pwm_autoscale", True)
+ set_config_field(config, "pwm_autograd", True)
+ set_config_field(config, "freewheel", 0)
+ set_config_field(config, "PWM_REG", 4)
+ set_config_field(config, "PWM_LIM", 12)
+ # TPWMTHRS
+ self.fields.set_field("TPWMTHRS", thresh)
+ # TPOWERDOWN
+ set_config_field(config, "TPOWERDOWN", 10)
+
+ self._init_registers()
+ def decode_hex(self, hex_, reg_name=False):
+ reg = int( (hex_ >> 32) & 0xff - long(0x80) )
+ if reg not in registers.values():
+ reg = int( (hex_ >> 32) & 0xff )
+ if reg not in registers.values():
+ reg_name = "UFO"
+ if not reg_name:
+ for name, adr_ in registers.items():
+ if adr_ == reg:
+ reg_name = name
+ val = hex_ & 0xFFFFFFFF
+ logging.debug(self.fields.pretty_format(reg_name, val))
+ def _init_registers(self, min_clock = 0):
+ for reg_name, val in self.regs.items():
+ self.set_register(reg_name, val, min_clock)
+ def setup_pin(self, pin_type, pin_params):
+ if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
+ raise pins.error("tmc5160 virtual endstop only useful as endstop")
+ if pin_params['invert'] or pin_params['pullup']:
+ raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
+ return tmc2130.TMC2130VirtualEndstop(self)
+ def get_register(self, reg_name):
+ reg = registers[reg_name]
+ self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
+ params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
+ pr = bytearray(params['response'])
+ return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
+ def set_register(self, reg_name, val, min_clock = 0):
+ reg = registers[reg_name]
+ data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
+ (val >> 8) & 0xff, val & 0xff]
+ self.decode_hex( val, reg_name=reg_name )
+ self.spi.spi_send(data, min_clock)
+ def set_adress(self, val, min_clock=0):
+ data = [(val >> 32) & 0xff, (val >> 24) & 0xff,
+ (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
+ self.spi.spi_send(data, min_clock)
+ def get_microsteps(self):
+ return 256 >> self.fields.get_field("MRES")
+ 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()
+ min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+ irun, ihold = calc_current_config(run_current,
+ hold_current, self.sense_resistor)
+ self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
+ self.fields.set_field("IHOLD", ihold)
+ self.fields.set_field("IRUN", irun)
+ self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
+ else:
+ gcode.respond_info(
+ "Run Current: %0.2fA Hold Current: %0.2fA"
+ % (run_current, hold_current))
+ cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
+ def cmd_DUMP_TMC(self, params):
+ self.printer.lookup_object('toolhead').get_last_move_time()
+ gcode = self.printer.lookup_object('gcode')
+ logging.info("DUMP_TMC %s", self.name)
+ gcode.respond_info("========== Write-only registers ==========")
+ for reg_name, val in self.regs.items():
+ if reg_name not in ReadRegisters:
+ gcode.respond_info(self.fields.pretty_format(reg_name, val))
+ gcode.respond_info("========== Queried registers ==========")
+ for reg_name in ReadRegisters:
+ val = self.get_register(reg_name)
+ gcode.respond_info(self.fields.pretty_format(reg_name, val))
+ cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
+ def cmd_INIT_TMC(self, params):
+ logging.info("INIT_TMC 5160 %s", self.name)
+ print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+ min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+ self._init_registers(min_clock)
+ cmd_SET_TMC_FIELD_help = "Set a register field of a TMC5160 driver"
+ def cmd_SET_TMC_FIELD(self, params):
+ gcode = self.printer.lookup_object('gcode')
+ if ('FIELD' not in params or
+ 'VALUE' not in params):
+ raise gcode.error("Invalid command format")
+ field = gcode.get_str('FIELD', params)
+ reg = self.fields.field_to_register[field]
+ value = gcode.get_int('VALUE', params)
+ self.fields.set_field(field, value)
+ print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+ min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+ self.set_register(reg, self.regs[reg], min_clock)
+
+def load_config_prefix(config):
+ return TMC5160(config)
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 19:58:05 +0000