# TMC2130 configuration # # Copyright (C) 2018-2019 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import logging import math from . import bus, tmc TMC_FREQUENCY = 13200000.0 Registers = { "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14, "THIGH": 0x15, "XDIRECT": 0x2D, "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, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73, } ReadRegisters = [ "GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS", ] Fields = {} Fields["GCONF"] = { "i_scale_analog": 1 << 0, "internal_rsense": 1 << 1, "en_pwm_mode": 1 << 2, "enc_commutation": 1 << 3, "shaft": 1 << 4, "diag0_error": 1 << 5, "diag0_otpw": 1 << 6, "diag0_stall": 1 << 7, "diag1_stall": 1 << 8, "diag1_index": 1 << 9, "diag1_onstate": 1 << 10, "diag1_steps_skipped": 1 << 11, "diag0_int_pushpull": 1 << 12, "diag1_pushpull": 1 << 13, "small_hysteresis": 1 << 14, "stop_enable": 1 << 15, "direct_mode": 1 << 16, "test_mode": 1 << 17, } Fields["GSTAT"] = {"reset": 1 << 0, "drv_err": 1 << 1, "uv_cp": 1 << 2} Fields["IOIN"] = { "step": 1 << 0, "dir": 1 << 1, "dcen_cfg4": 1 << 2, "dcin_cfg5": 1 << 3, "drv_enn_cfg6": 1 << 4, "dco": 1 << 5, "version": 0xFF << 24, } Fields["IHOLD_IRUN"] = {"ihold": 0x1F << 0, "irun": 0x1F << 8, "iholddelay": 0x0F << 16} Fields["TPOWERDOWN"] = {"tpowerdown": 0xFF} Fields["TSTEP"] = {"tstep": 0xFFFFF} Fields["TPWMTHRS"] = {"tpwmthrs": 0xFFFFF} Fields["TCOOLTHRS"] = {"tcoolthrs": 0xFFFFF} Fields["THIGH"] = {"thigh": 0xFFFFF} 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, } Fields["MSLUTSTART"] = { "start_sin": 0xFF << 0, "start_sin90": 0xFF << 16, } Fields["MSCNT"] = {"mscnt": 0x3FF} Fields["MSCURACT"] = {"cur_a": 0x1FF, "cur_b": 0x1FF << 16} Fields["CHOPCONF"] = { "toff": 0x0F, "hstrt": 0x07 << 4, "hend": 0x0F << 7, "fd3": 1 << 11, "disfdcc": 1 << 12, "rndtf": 1 << 13, "chm": 1 << 14, "tbl": 0x03 << 15, "vsense": 1 << 17, "vhighfs": 1 << 18, "vhighchm": 1 << 19, "sync": 0x0F << 20, "mres": 0x0F << 24, "intpol": 1 << 28, "dedge": 1 << 29, "diss2g": 1 << 30, } Fields["COOLCONF"] = { "semin": 0x0F, "seup": 0x03 << 5, "semax": 0x0F << 8, "sedn": 0x03 << 13, "seimin": 1 << 15, "sgt": 0x7F << 16, "sfilt": 1 << 24, } Fields["DRV_STATUS"] = { "sg_result": 0x3FF, "fsactive": 1 << 15, "cs_actual": 0x1F << 16, "stallguard": 1 << 24, "ot": 1 << 25, "otpw": 1 << 26, "s2ga": 1 << 27, "s2gb": 1 << 28, "ola": 1 << 29, "olb": 1 << 30, "stst": 1 << 31, } Fields["PWMCONF"] = { "pwm_ampl": 0xFF, "pwm_grad": 0xFF << 8, "pwm_freq": 0x03 << 16, "pwm_autoscale": 1 << 18, "pwm_symmetric": 1 << 19, "freewheel": 0x03 << 20, } Fields["PWM_SCALE"] = {"pwm_scale": 0xFF} Fields["LOST_STEPS"] = {"lost_steps": 0xFFFFF} SignedFields = ["cur_a", "cur_b", "sgt"] FieldFormatters = { "i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""), "shaft": (lambda v: "1(Reverse)" if v else ""), "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 ""), "version": (lambda v: "%#x" % v), "mres": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)), "otpw": (lambda v: "1(OvertempWarning!)" if v else ""), "ot": (lambda v: "1(OvertempError!)" if v else ""), "s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""), "s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""), "ola": (lambda v: "1(OpenLoad_A!)" if v else ""), "olb": (lambda v: "1(OpenLoad_B!)" if v else ""), "cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"), } ###################################################################### # TMC stepper current config helper ###################################################################### MAX_CURRENT = 2.000 class TMCCurrentHelper: 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=0.0, 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", 0.110, above=0.0) vsense, irun, ihold = self._calc_current(run_current, hold_current) self.fields.set_field("vsense", vsense) self.fields.set_field("ihold", ihold) self.fields.set_field("irun", irun) def _calc_current_bits(self, current, vsense): sense_resistor = self.sense_resistor + 0.020 vref = 0.32 if vsense: vref = 0.18 cs = int(32.0 * sense_resistor * current * math.sqrt(2.0) / vref + 0.5) - 1 return max(0, min(31, cs)) def _calc_current_from_bits(self, cs, vsense): sense_resistor = self.sense_resistor + 0.020 vref = 0.32 if vsense: vref = 0.18 return (cs + 1) * vref / (32.0 * sense_resistor * math.sqrt(2.0)) def _calc_current(self, run_current, hold_current): vsense = True irun = self._calc_current_bits(run_current, True) if irun == 31: cur = self._calc_current_from_bits(irun, True) if cur < run_current: irun2 = self._calc_current_bits(run_current, False) cur2 = self._calc_current_from_bits(irun2, False) if abs(run_current - cur2) < abs(run_current - cur): vsense = False irun = irun2 ihold = self._calc_current_bits(min(hold_current, run_current), vsense) return vsense, irun, ihold def get_current(self): irun = self.fields.get_field("irun") ihold = self.fields.get_field("ihold") vsense = self.fields.get_field("vsense") run_current = self._calc_current_from_bits(irun, vsense) hold_current = self._calc_current_from_bits(ihold, vsense) 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 vsense, irun, ihold = self._calc_current(run_current, hold_current) if vsense != self.fields.get_field("vsense"): val = self.fields.set_field("vsense", vsense) self.mcu_tmc.set_register("CHOPCONF", val, print_time) self.fields.set_field("ihold", ihold) val = self.fields.set_field("irun", irun) self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time) ###################################################################### # TMC2130 SPI ###################################################################### class MCU_TMC_SPI_chain: def __init__(self, config, chain_len=1): self.printer = config.get_printer() self.chain_len = chain_len self.mutex = self.printer.get_reactor().mutex() share = None if chain_len > 1: share = "tmc_spi_cs" self.spi = bus.MCU_SPI_from_config( config, 3, default_speed=4000000, share_type=share ) self.taken_chain_positions = [] def _build_cmd(self, data, chain_pos): return ( [0x00] * ((self.chain_len - chain_pos) * 5) + data + [0x00] * ((chain_pos - 1) * 5) ) def reg_read(self, reg, chain_pos): cmd = self._build_cmd([reg, 0x00, 0x00, 0x00, 0x00], chain_pos) self.spi.spi_send(cmd) if self.printer.get_start_args().get("debugoutput") is not None: return { "spi_status": 0, "data": 0, "#receive_time": 0.0, } params = self.spi.spi_transfer(cmd) pr = bytearray(params["response"]) pr = pr[(self.chain_len - chain_pos) * 5 : (self.chain_len - chain_pos + 1) * 5] return { "spi_status": pr[0], "data": (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4], "#receive_time": params["#receive_time"], } def reg_write(self, reg, val, chain_pos, print_time=None): minclock = 0 if print_time is not None: minclock = self.spi.get_mcu().print_time_to_clock(print_time) data = [ (reg | 0x80) & 0xFF, (val >> 24) & 0xFF, (val >> 16) & 0xFF, (val >> 8) & 0xFF, val & 0xFF, ] if self.printer.get_start_args().get("debugoutput") is not None: self.spi.spi_send(self._build_cmd(data, chain_pos), minclock) return val write_cmd = self._build_cmd(data, chain_pos) dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos) params = self.spi.spi_transfer_with_preface( write_cmd, dummy_read, minclock=minclock ) pr = bytearray(params["response"]) pr = pr[(self.chain_len - chain_pos) * 5 : (self.chain_len - chain_pos + 1) * 5] return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] def get_mcu(self): return self.spi.get_mcu() # Helper to setup an spi daisy chain bus from settings in a config section def lookup_tmc_spi_chain(config): chain_len = config.getint("chain_length", None, minval=2) if chain_len is None: # Simple, non daisy chained SPI connection return MCU_TMC_SPI_chain(config, 1), 1 # Shared SPI bus - lookup existing MCU_TMC_SPI_chain ppins = config.get_printer().lookup_object("pins") cs_pin_params = ppins.lookup_pin(config.get("cs_pin"), share_type="tmc_spi_cs") tmc_spi = cs_pin_params.get("class") if tmc_spi is None: tmc_spi = cs_pin_params["class"] = MCU_TMC_SPI_chain(config, chain_len) if chain_len != tmc_spi.chain_len: raise config.error("TMC SPI chain must have same length") chain_pos = config.getint("chain_position", minval=1, maxval=chain_len) if chain_pos in tmc_spi.taken_chain_positions: raise config.error("TMC SPI chain can not have duplicate position") tmc_spi.taken_chain_positions.append(chain_pos) return tmc_spi, chain_pos # Helper code for working with TMC devices via SPI class MCU_TMC_SPI: def __init__(self, config, name_to_reg, fields, tmc_frequency): self.printer = config.get_printer() self.name = config.get_name().split()[-1] self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config) self.mutex = self.tmc_spi.mutex self.name_to_reg = name_to_reg self.fields = fields self.tmc_frequency = tmc_frequency def get_fields(self): return self.fields def get_register_raw(self, reg_name): reg = self.name_to_reg[reg_name] with self.mutex: resp = self.tmc_spi.reg_read(reg, self.chain_pos) return resp def decode_spi_status(spi_status): return { "standstill": spi_status >> 3 & 0x1, "sg2": spi_status >> 2 & 0x1, "driver_error": spi_status >> 1 & 0x1, "reset_flag": spi_status & 0x1, } def get_register(self, reg_name): return self.get_register_raw(reg_name)["data"] def set_register(self, reg_name, val, print_time=None): reg = self.name_to_reg[reg_name] with self.mutex: for retry in range(5): v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time) if v == val: return raise self.printer.command_error( "Unable to write tmc spi '%s' register %s" % (self.name, reg_name) ) def get_tmc_frequency(self): return self.tmc_frequency def get_mcu(self): return self.tmc_spi.get_mcu() ###################################################################### # TMC2130 printer object ###################################################################### class TMC2130: def __init__(self, config): # Setup mcu communication self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields, TMC_FREQUENCY) # Allow virtual pins to be created tmc.TMCVirtualPinHelper(config, self.mcu_tmc) # Register commands current_helper = TMCCurrentHelper(config, self.mcu_tmc) cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters) self.get_phase_offset = cmdhelper.get_phase_offset self.get_status = cmdhelper.get_status # Setup basic register values tmc.TMCWaveTableHelper(config, self.mcu_tmc) tmc.TMCStealthchopHelper(config, self.mcu_tmc) tmc.TMCVcoolthrsHelper(config, self.mcu_tmc) tmc.TMCVhighHelper(config, self.mcu_tmc) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # CHOPCONF set_config_field(config, "toff", 4) set_config_field(config, "hstrt", 0) set_config_field(config, "hend", 7) set_config_field(config, "tbl", 1) set_config_field(config, "vhighfs", 0) set_config_field(config, "vhighchm", 0) # COOLCONF set_config_field(config, "semin", 0) 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) # IHOLDIRUN set_config_field(config, "iholddelay", 8) # PWMCONF set_config_field(config, "pwm_ampl", 128) set_config_field(config, "pwm_grad", 4) set_config_field(config, "pwm_freq", 1) set_config_field(config, "pwm_autoscale", True) set_config_field(config, "freewheel", 0) # TPOWERDOWN set_config_field(config, "tpowerdown", 0) def load_config_prefix(config): return TMC2130(config)