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# TMC2209 configuration
#
# Copyright (C) 2019 Stephan Oelze <stephan.oelze@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
from . import tmc2208, tmc2130, tmc, tmc_uart
TMC_FREQUENCY = 12000000.0
Registers = dict(tmc2208.Registers)
Registers.update(
{"TCOOLTHRS": 0x14, "COOLCONF": 0x42, "SGTHRS": 0x40, "SG_RESULT": 0x41}
)
ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]
Fields = dict(tmc2208.Fields)
Fields["COOLCONF"] = {
"semin": 0x0F << 0,
"seup": 0x03 << 5,
"semax": 0x0F << 8,
"sedn": 0x03 << 13,
"seimin": 0x01 << 15,
}
Fields["IOIN"] = {
"enn": 0x01 << 0,
"ms1": 0x01 << 2,
"ms2": 0x01 << 3,
"diag": 0x01 << 4,
"pdn_uart": 0x01 << 6,
"step": 0x01 << 7,
"spread_en": 0x01 << 8,
"dir": 0x01 << 9,
"version": 0xFF << 24,
}
Fields["SGTHRS"] = {"sgthrs": 0xFF << 0}
Fields["SG_RESULT"] = {"sg_result": 0x3FF << 0}
Fields["TCOOLTHRS"] = {"tcoolthrs": 0xFFFFF}
FieldFormatters = dict(tmc2208.FieldFormatters)
######################################################################
# TMC2209 printer object
######################################################################
class TMC2209:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(
config, Registers, self.fields, 3, TMC_FREQUENCY
)
# Setup fields for UART
self.fields.set_field("pdn_disable", True)
self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# 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.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)
tmc.TMCVcoolthrsHelper(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)
# COOLCONF
set_config_field(config, "semin", 0)
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
set_config_field(config, "seimin", 0)
# 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)
# SGTHRS
set_config_field(config, "sgthrs", 0)
def load_config_prefix(config):
return TMC2209(config)
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