# TMC2208 UART communication and configuration # # Copyright (C) 2018-2019 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import logging from . import tmc, tmc_uart, tmc2130 TMC_FREQUENCY = 12000000.0 Registers = { "GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03, "OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07, "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "VACTUAL": 0x22, "MSCNT": 0x6A, "MSCURACT": 0x6B, "CHOPCONF": 0x6C, "DRV_STATUS": 0x6F, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72, } ReadRegisters = [ "GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP", "MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS", "PWMCONF", "PWM_SCALE", "PWM_AUTO", ] Fields = {} Fields["GCONF"] = { "i_scale_analog": 0x01, "internal_rsense": 0x01 << 1, "en_spreadcycle": 0x01 << 2, "shaft": 0x01 << 3, "index_otpw": 0x01 << 4, "index_step": 0x01 << 5, "pdn_disable": 0x01 << 6, "mstep_reg_select": 0x01 << 7, "multistep_filt": 0x01 << 8, "test_mode": 0x01 << 9, } Fields["GSTAT"] = {"reset": 0x01, "drv_err": 0x01 << 1, "uv_cp": 0x01 << 2} Fields["IFCNT"] = {"ifcnt": 0xFF} Fields["SLAVECONF"] = {"senddelay": 0x0F << 8} Fields["OTP_PROG"] = {"otpbit": 0x07, "otpbyte": 0x03 << 4, "otpmagic": 0xFF << 8} Fields["OTP_READ"] = { "otp_fclktrim": 0x1F, "otp_ottrim": 0x01 << 5, "otp_internalrsense": 0x01 << 6, "otp_tbl": 0x01 << 7, "otp_pwm_grad": 0x0F << 8, "otp_pwm_autograd": 0x01 << 12, "otp_tpwmthrs": 0x07 << 13, "otp_pwm_ofs": 0x01 << 16, "otp_pwm_reg": 0x01 << 17, "otp_pwm_freq": 0x01 << 18, "otp_iholddelay": 0x03 << 19, "otp_ihold": 0x03 << 21, "otp_en_spreadcycle": 0x01 << 23, } # IOIN mapping depends on the driver type (SEL_A field) # TMC222x (SEL_A == 0) Fields["IOIN@TMC222x"] = { "pdn_uart": 0x01 << 1, "spread": 0x01 << 2, "dir": 0x01 << 3, "enn": 0x01 << 4, "step": 0x01 << 5, "ms1": 0x01 << 6, "ms2": 0x01 << 7, "sel_a": 0x01 << 8, "version": 0xFF << 24, } # TMC220x (SEL_A == 1) Fields["IOIN@TMC220x"] = { "enn": 0x01, "ms1": 0x01 << 2, "ms2": 0x01 << 3, "diag": 0x01 << 4, "pdn_uart": 0x01 << 6, "step": 0x01 << 7, "sel_a": 0x01 << 8, "dir": 0x01 << 9, "version": 0xFF << 24, } Fields["FACTORY_CONF"] = {"fclktrim": 0x1F, "ottrim": 0x03 << 8} Fields["IHOLD_IRUN"] = {"ihold": 0x1F, "irun": 0x1F << 8, "iholddelay": 0x0F << 16} Fields["TPOWERDOWN"] = {"tpowerdown": 0xFF} Fields["TSTEP"] = {"tstep": 0xFFFFF} Fields["TPWMTHRS"] = {"tpwmthrs": 0xFFFFF} Fields["VACTUAL"] = {"vactual": 0xFFFFFF} Fields["MSCNT"] = {"mscnt": 0x3FF} Fields["MSCURACT"] = {"cur_a": 0x1FF, "cur_b": 0x1FF << 16} Fields["CHOPCONF"] = { "toff": 0x0F, "hstrt": 0x07 << 4, "hend": 0x0F << 7, "tbl": 0x03 << 15, "vsense": 0x01 << 17, "mres": 0x0F << 24, "intpol": 0x01 << 28, "dedge": 0x01 << 29, "diss2g": 0x01 << 30, "diss2vs": 0x01 << 31, } Fields["DRV_STATUS"] = { "otpw": 0x01, "ot": 0x01 << 1, "s2ga": 0x01 << 2, "s2gb": 0x01 << 3, "s2vsa": 0x01 << 4, "s2vsb": 0x01 << 5, "ola": 0x01 << 6, "olb": 0x01 << 7, "t120": 0x01 << 8, "t143": 0x01 << 9, "t150": 0x01 << 10, "t157": 0x01 << 11, "cs_actual": 0x1F << 16, "stealth": 0x01 << 30, "stst": 0x01 << 31, } Fields["PWMCONF"] = { "pwm_ofs": 0xFF, "pwm_grad": 0xFF << 8, "pwm_freq": 0x03 << 16, "pwm_autoscale": 0x01 << 18, "pwm_autograd": 0x01 << 19, "freewheel": 0x03 << 20, "pwm_reg": 0xF << 24, "pwm_lim": 0xF << 28, } Fields["PWM_SCALE"] = {"pwm_scale_sum": 0xFF, "pwm_scale_auto": 0x1FF << 16} Fields["PWM_AUTO"] = {"pwm_ofs_auto": 0xFF, "pwm_grad_auto": 0xFF << 16} SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"] FieldFormatters = dict(tmc2130.FieldFormatters) FieldFormatters.update( { "sel_a": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])), "s2vsa": (lambda v: "1(ShortToSupply_A!)" if v else ""), "s2vsb": (lambda v: "1(ShortToSupply_B!)" if v else ""), } ) ###################################################################### # TMC2208 printer object ###################################################################### class TMC2208: def __init__(self, config): # Setup mcu communication self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = tmc_uart.MCU_TMC_uart( config, Registers, self.fields, 0, TMC_FREQUENCY ) self.fields.set_field("pdn_disable", True) # Register commands current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc) cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters, self.read_translate) self.get_phase_offset = cmdhelper.get_phase_offset self.get_status = cmdhelper.get_status # Setup basic register values self.fields.set_field("mstep_reg_select", True) tmc.TMCStealthchopHelper(config, self.mcu_tmc) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # GCONF set_config_field(config, "multistep_filt", True) # CHOPCONF set_config_field(config, "toff", 3) set_config_field(config, "hstrt", 5) set_config_field(config, "hend", 0) set_config_field(config, "tbl", 2) # IHOLDIRUN set_config_field(config, "iholddelay", 8) # PWMCONF set_config_field(config, "pwm_ofs", 36) set_config_field(config, "pwm_grad", 14) 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", 8) set_config_field(config, "pwm_lim", 12) # TPOWERDOWN set_config_field(config, "tpowerdown", 20) def read_translate(self, reg_name, val): if reg_name == "IOIN": drv_type = self.fields.get_field("sel_a", val) reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x" return reg_name, val def load_config_prefix(config): return TMC2208(config)