1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
|
# TMC2208 UART communication and 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, logging, collections
TMC_FREQUENCY=12000000.
GCONF_PDN_DISABLE = 1<<6
GCONF_MSTEP_REG_SELECT = 1<<7
GCONF_MULTISTEP_FILT = 1<<8
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"
]
######################################################################
# TMC2208 communication
######################################################################
# Generate a CRC8-ATM value for a bytearray
def calc_crc8(data):
crc = 0
for b in data:
for i in range(8):
if (crc >> 7) ^ (b & 0x01):
crc = (crc << 1) ^ 0x07
else:
crc = (crc << 1)
crc &= 0xff
b >>= 1
return crc
# Add serial start and stop bits to a message in a bytearray
def add_serial_bits(data):
out = 0
pos = 0
for d in data:
b = (d << 1) | 0x200
out |= (b << pos)
pos += 10
res = bytearray()
for i in range((pos+7)//8):
res.append((out >> (i*8)) & 0xff)
return res
# Generate a tmc2208 read register message
def encode_tmc2208_read(sync, addr, reg):
msg = bytearray([sync, addr, reg])
msg.append(calc_crc8(msg))
return add_serial_bits(msg)
# Generate a tmc2208 write register message
def encode_tmc2208_write(sync, addr, reg, val):
msg = bytearray([sync, addr, reg, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff])
msg.append(calc_crc8(msg))
return add_serial_bits(msg)
# Extract a tmc2208 read response message
def decode_tmc2208_read(reg, data):
# Convert data into a long integer for easy manipulation
if len(data) != 10:
return None
mval = pos = 0
for d in bytearray(data):
mval |= d << pos
pos += 8
# Extract register value
val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
| (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
# Verify start/stop bits and crc
encoded_data = encode_tmc2208_write(0x05, 0xff, reg, val)
if data != encoded_data:
return None
return val
######################################################################
# TMC2208 printer object
######################################################################
class TMC2208:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
# pin setup
ppins = self.printer.lookup_object("pins")
rx_pin_params = ppins.lookup_pin(
config.get('uart_pin'), can_pullup=True)
tx_pin_desc = config.get('tx_pin', None)
if tx_pin_desc is None:
tx_pin_params = rx_pin_params
else:
tx_pin_params = ppins.lookup_pin(tx_pin_desc)
if rx_pin_params['chip'] is not tx_pin_params['chip']:
raise ppins.error("TMC2208 rx and tx pins must be on the same mcu")
self.mcu = rx_pin_params['chip']
self.pullup = rx_pin_params['pullup']
self.rx_pin = rx_pin_params['pin']
self.tx_pin = tx_pin_params['pin']
self.oid = self.mcu.create_oid()
self.tmcuart_send_cmd = None
self.mcu.register_config_callback(self.build_config)
# Add DUMP_TMC command
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
# Get config for initial driver settings
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}
self.mres = config.getchoice('microsteps', steps)
interpolate = config.getboolean('interpolate', True)
sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity)
iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
tpowerdown = config.getint('driver_TPOWERDOWN', 20, minval=0, maxval=255)
blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 2,
minval=0, maxval=3)
toff = config.getint('driver_TOFF', 3, minval=1, maxval=15)
hend = config.getint('driver_HEND', 0, minval=0, maxval=15)
hstrt = config.getint('driver_HSTRT', 5, minval=0, maxval=7)
pwm_autograd = config.getboolean('driver_PWM_AUTOGRAD', True)
pwm_autoscale = config.getboolean('driver_PWM_AUTOSCALE', True)
pwm_lim = config.getint('driver_PWM_LIM', 12, minval=0, maxval=15)
pwm_reg = config.getint('driver_PWM_REG', 8, minval=0, maxval=15)
pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
pwm_grad = config.getint('driver_PWM_GRAD', 14, minval=0, maxval=255)
pwm_ofs = config.getint('driver_PWM_OFS', 36, minval=0, maxval=255)
# 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 registers
self.ifcnt = None
self.init_regs = collections.OrderedDict()
self.init_regs['GCONF'] = (
((sc_velocity == 0.) << 2) | GCONF_PDN_DISABLE
| GCONF_MSTEP_REG_SELECT | GCONF_MULTISTEP_FILT)
self.init_regs['CHOPCONF'] = (
toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
self.init_regs['IHOLD_IRUN'] = ihold | (irun << 8) | (iholddelay << 16)
self.init_regs['TPOWERDOWN'] = tpowerdown
self.init_regs['TPWMTHRS'] = max(0, min(0xfffff, sc_threshold))
self.init_regs['PWMCONF'] = (
pwm_ofs | (pwm_grad << 8) | (pwm_freq << 16)
| (pwm_autoscale << 18) | (pwm_autograd << 19)
| (pwm_reg << 24) | (pwm_lim << 28))
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 velocity_to_clock(self, config, velocity):
if not velocity:
return 0
stepper_name = config.get_name().split()[1]
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << self.mres)
return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
def build_config(self):
bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
self.mcu.add_config_cmd(
"config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
% (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
cmd_queue = self.mcu.alloc_command_queue()
self.tmcuart_send_cmd = self.mcu.lookup_command(
"tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
def handle_connect(self):
for reg_name, val in self.init_regs.items():
self.set_register(reg_name, val)
def get_register(self, reg_name):
reg = Registers[reg_name]
msg = encode_tmc2208_read(0xf5, 0x00, reg)
for retry in range(5):
params = self.tmcuart_send_cmd.send_with_response(
[self.oid, msg, 10], 'tmcuart_response', self.oid)
val = decode_tmc2208_read(reg, params['read'])
if val is not None:
return val
raise self.printer.config_error(
"Unable to read tmc2208 '%s' register %s" % (self.name, reg_name))
def set_register(self, reg_name, val):
msg = encode_tmc2208_write(0xf5, 0x00, Registers[reg_name] | 0x80, val)
for retry in range(5):
ifcnt = self.ifcnt
if ifcnt is None:
self.ifcnt = ifcnt = self.get_register("IFCNT")
params = self.tmcuart_send_cmd.send_with_response(
[self.oid, msg, 0], 'tmcuart_response', self.oid)
self.ifcnt = self.get_register("IFCNT")
if self.ifcnt == (ifcnt + 1) & 0xff:
return
raise self.printer.config_error(
"Unable to write tmc2208 '%s' register %s" % (self.name, reg_name))
def get_microsteps(self):
return 256 >> self.mres
def get_phase(self):
return (self.get_register("MSCNT") & 0x3ff) >> self.mres
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
def cmd_DUMP_TMC(self, params):
self.printer.lookup_object('toolhead').get_last_move_time()
gcode = self.printer.lookup_object('gcode')
logging.info("DUMP_TMC %s", self.name)
for reg_name in ReadRegisters:
try:
val = self.get_register(reg_name)
except self.printer.config_error as e:
raise gcode.error(str(e))
msg = "%-15s %08x" % (reg_name + ":", val)
logging.info(msg)
gcode.respond_info(msg)
def load_config_prefix(config):
return TMC2208(config)
|
