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# Common helper code for TMC stepper drivers
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, collections
######################################################################
# Field helpers
######################################################################
# Return the position of the first bit set in a mask
def ffs(mask):
return (mask & -mask).bit_length() - 1
class FieldHelper:
def __init__(self, all_fields, signed_fields=[], field_formatters={},
registers=None):
self.all_fields = all_fields
self.signed_fields = {sf: 1 for sf in signed_fields}
self.field_formatters = field_formatters
self.registers = registers
if self.registers is None:
self.registers = collections.OrderedDict()
self.field_to_register = { f: r for r, fields in self.all_fields.items()
for f in fields }
def lookup_register(self, field_name, default=None):
return self.field_to_register.get(field_name, default)
def get_field(self, field_name, reg_value=None, reg_name=None):
# Returns value of the register field
if reg_name is None:
reg_name = self.field_to_register[field_name]
if reg_value is None:
reg_value = self.registers[reg_name]
mask = self.all_fields[reg_name][field_name]
field_value = (reg_value & mask) >> ffs(mask)
if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
field_value -= (1 << field_value.bit_length())
return field_value
def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
# Returns register value with field bits filled with supplied value
if reg_name is None:
reg_name = self.field_to_register[field_name]
if reg_value is None:
reg_value = self.registers.get(reg_name, 0)
mask = self.all_fields[reg_name][field_name]
new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
self.registers[reg_name] = new_value
return new_value
def set_config_field(self, config, field_name, default, config_name=None):
# Allow a field to be set from the config file
if config_name is None:
config_name = "driver_" + field_name.upper()
reg_name = self.field_to_register[field_name]
mask = self.all_fields[reg_name][field_name]
maxval = mask >> ffs(mask)
if maxval == 1:
val = config.getboolean(config_name, default)
elif field_name in self.signed_fields:
val = config.getint(config_name, default,
minval=-(maxval//2 + 1), maxval=maxval//2)
else:
val = config.getint(config_name, default, minval=0, maxval=maxval)
return self.set_field(field_name, val)
def pretty_format(self, reg_name, reg_value):
# Provide a string description of a register
reg_fields = self.all_fields.get(reg_name, {})
reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
fields = []
for mask, field_name in reg_fields:
field_value = self.get_field(field_name, reg_value, reg_name)
sval = self.field_formatters.get(field_name, str)(field_value)
if sval and sval != "0":
fields.append(" %s=%s" % (field_name, sval))
return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
######################################################################
# G-Code command helpers
######################################################################
class TMCCommandHelper:
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()
self.read_registers = self.read_translate = None
self.gcode = self.printer.lookup_object("gcode")
self.gcode.register_mux_command(
"SET_TMC_FIELD", "STEPPER", self.name,
self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
self.gcode.register_mux_command(
"INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
def _init_registers(self, print_time=None):
# Send registers
for reg_name, val in self.fields.registers.items():
self.mcu_tmc.set_register(reg_name, val, print_time)
def _handle_connect(self):
retry_count = 0
while 1:
try:
self._init_registers()
return
except self.printer.command_error as e:
logging.exception("TMC init error")
retry_count += 1
if retry_count > 5:
raise self.printer.config_error(str(e))
reactor = self.printer.get_reactor()
reactor.pause(reactor.monotonic() + 1.)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self._init_registers(print_time)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
def cmd_SET_TMC_FIELD(self, params):
if 'FIELD' not in params or 'VALUE' not in params:
raise self.gcode.error("Invalid command format")
field_name = self.gcode.get_str('FIELD', params)
reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None:
raise self.gcode.error("Unknown field name '%s'" % (field_name,))
value = self.gcode.get_int('VALUE', params)
reg_val = self.fields.set_field(field_name, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.mcu_tmc.set_register(reg_name, reg_val, print_time)
# DUMP_TMC support
def setup_register_dump(self, read_registers, read_translate=None):
self.read_registers = read_registers
self.read_translate = read_translate
self.gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
def cmd_DUMP_TMC(self, params):
logging.info("DUMP_TMC %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.gcode.respond_info("========== Write-only registers ==========")
for reg_name, val in self.fields.registers.items():
if reg_name not in self.read_registers:
self.gcode.respond_info(
self.fields.pretty_format(reg_name, val))
self.gcode.respond_info("========== Queried registers ==========")
for reg_name in self.read_registers:
val = self.mcu_tmc.get_register(reg_name)
if self.read_translate is not None:
reg_name, val = self.read_translate(reg_name, val)
self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
######################################################################
# TMC virtual endstops
######################################################################
# Endstop wrapper that enables "sensorless homing"
class TMCVirtualEndstop:
def __init__(self, mcu_tmc, mcu_endstop):
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
self.mcu_endstop = mcu_endstop
self.en_pwm = self.fields.get_field("en_pwm_mode")
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self):
self.fields.set_field("en_pwm_mode", 0)
val = self.fields.set_field("diag1_stall", 1)
self.mcu_tmc.set_register("GCONF", val)
self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
self.mcu_endstop.home_prepare()
def home_finalize(self):
self.fields.set_field("en_pwm_mode", self.en_pwm)
val = self.fields.set_field("diag1_stall", 0)
self.mcu_tmc.set_register("GCONF", val)
self.mcu_tmc.set_register("TCOOLTHRS", 0)
self.mcu_endstop.home_finalize()
class TMCEndstopHelper:
def __init__(self, config, mcu_tmc, diag_pin):
self.printer = config.get_printer()
self.mcu_tmc = mcu_tmc
self.diag_pin = diag_pin
name_parts = config.get_name().split()
ppins = self.printer.lookup_object("pins")
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
def setup_pin(self, pin_type, pin_params):
ppins = self.printer.lookup_object('pins')
if self.diag_pin is None:
raise ppins.error("tmc virtual endstop requires diag pin config")
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise ppins.error("tmc virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise ppins.error("Can not pullup/invert tmc virtual endstop")
mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
######################################################################
# Config reading helpers
######################################################################
# Helper to configure and query the microstep settings
class TMCMicrostepHelper:
def __init__(self, config, mcu_tmc):
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = config.getchoice('microsteps', steps)
self.fields.set_field("MRES", mres)
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
field_name = "MSCNT"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
field_name = "MSTEP"
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
mscnt = self.fields.get_field(field_name, reg)
return (1023 - mscnt) >> self.fields.get_field("MRES")
# Helper to configure "stealthchop" mode
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
fields = mcu_tmc.get_fields()
en_pwm_mode = False
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if velocity:
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
en_pwm_mode = True
reg = fields.lookup_register("en_pwm_mode", None)
if reg is not None:
fields.set_field("en_pwm_mode", en_pwm_mode)
else:
# TMC2208 uses en_spreadCycle
fields.set_field("en_spreadCycle", not en_pwm_mode)
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