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# TMC2130 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
class tmc2130:
def __init__(self, config):
printer = config.get_printer()
# pin setup
ppins = printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
if cs_pin_params['invert']:
raise pins.error("tmc2130 can not invert pin")
self.mcu = cs_pin_params['chip']
pin = cs_pin_params['pin']
self.oid = self.mcu.create_oid()
self.mcu.add_config_cmd(
"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
self.oid, 0, cs_pin_params['pin'], 3, 3600000))
run_current = config.getfloat('run_current', above=0., maxval=2.)
hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=2.)
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
microsteps = config.getchoice('microsteps', steps)
interpolate = config.getboolean('interpolate', True)
stealthchop = config.getboolean('stealthchop', False)
iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
minval=0, maxval=3)
toff = config.getint('driver_TOFF', 1, minval=1, maxval=15)
hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
# calculate current
vsense = False
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16:
vsense = True
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
# configure GCONF
self.add_config_cmd(0x00, stealthchop << 2)
# configure CHOPCONF
self.add_config_cmd(
0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
| (vsense << 17) | (microsteps << 24) | (interpolate << 28))
# configure IHOLD_IRUN
self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
# configure TPOWERDOWN
self.add_config_cmd(0x11, tpowerdown)
def add_config_cmd(self, addr, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
def current_bits(self, current, sense_resistor, vsense_on):
sense_resistor += 0.020
vsense = 0.32
if vsense_on:
vsense = 0.18
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
- 1. + .5)
return max(0, min(31, cs))
def load_config_prefix(config):
return tmc2130(config)
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