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# TMC2208 UART communication and configuration
#
# 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
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)
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