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
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
|
# TMC2660 configuration
#
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, collections, logging
import bus, tmc2130
def current_bits(current, sense_resistor, vsense_on):
vsense = 0.165 if vsense_on else 0.310
cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
return max(0, min(cs, 31))
def get_config_current(run_current, sense_resistor):
vsense = False
cs = current_bits(run_current, sense_resistor, vsense)
if cs < 16:
vsense = True
cs = current_bits(run_current, sense_resistor, vsense)
return cs, vsense
Registers = {
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
"CHOPCONF": 0x8, "DRVCTRL": 0x0
}
Fields = {}
Fields["DRVCTRL"] = {
"MRES": 0x0f,
"DEDGE": 0x01 << 8,
"INTPOL": 0x01 << 9,
}
Fields["CHOPCONF"] = {
"TOFF": 0x0f,
"HSTRT": 0x7 << 4,
"HEND": 0x0f << 7,
"HDEC": 0x03 << 11,
"RNDTF": 0x01 << 13,
"CHM": 0x01 << 14,
"TBL": 0x03 << 15
}
Fields["SMARTEN"] = {
"SEMIN" : 0x0f,
"SEUP": 0x03 << 5,
"SEMAX": 0x0f << 8,
"SEDN": 0x03 << 13,
"SEIMIN": 0x01 << 15
}
Fields["SGCSCONF"] = {
"CS": 0x1f,
"SGT": 0x7F << 8,
"SFILT": 0x01 << 16
}
Fields["DRVCONF"] = {
"RDSEL": 0x03 << 4,
"VSENSE": 0x01 << 6,
"SDOFF": 0x01 << 7,
"TS2G": 0x03 << 8,
"DISS2G": 0x01 << 10,
"SLPL": 0x03 << 12,
"SLPH": 0x03 << 14,
"TST": 0x01 << 16
}
Fields["READRSP@RDSEL0"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"MSTEP": 0x3ff << 10
}
Fields["READRSP@RDSEL1"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"SG@RDSEL1": 0x3ff << 10
}
Fields["READRSP@RDSEL2"] = {
"SG": 0x01,
"OT": 0x01 << 1,
"OTPW": 0x01 << 2,
"S2GA": 0x01 << 3,
"S2GB": 0x01 << 4,
"OLA": 0x01 << 5,
"OLB": 0x01 << 6,
"STST": 0x01 << 7,
"SG@RDSEL2": 0x1f << 15,
"SE": 0x1f << 10
}
FieldFormatters = {
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"DEDGE": (lambda v:
"1(Both Edges Active)" if v else "0(Only Rising Edge active)"),
"INTPOL": (lambda v: "1(On)" if v else "0(Off)"),
"TOFF": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"SGT": (lambda v: "%d" % (v)),
"SFILT": (lambda v: "1(Filtered mode)" if v else "0(Standard mode)"),
"VSENSE": (lambda v: "%d(%dmV)" % (v, 165 if v else 305)),
"SDOFF": (lambda v: "1(Step/Dir disabled" if v else "0(Step/dir enabled)"),
"DISS2G": (lambda v: "%d(Short to GND protection %s)" % (v,
"disabled" if v else "enabled")),
"MSTEP": (lambda v: "%d(%d, OA1 %s OA2)" % (v, v & 0xff,
"<=" if v & 0x100 else "=>")),
"SG": (lambda v: "%d(%s)" % (v, "Stall!" if v else "No Stall!")),
"OT": (lambda v: "1(Overtemp shutdown!)" if v else ""),
"OTPW": (lambda v: "1(Overtemp warning!)" if v else ""),
"S2GA": (lambda v: "1(Short to GND Coil A!)" if v else ""),
"S2GB": (lambda v: "1(Short to GND Coil B!)" if v else ""),
"OLA": (lambda v: "1(Open Load Coil A at slow speed!)" if v else ""),
"OLB": (lambda v: "1(Open Load Coil B at slow speed!)" if v else ""),
"STST": (lambda v: "1(Standstill detected!)" if v else ""),
}
class TMC2660:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
# Add SET_CURRENT and DUMP_TMC commands
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
gcode.register_mux_command(
"SET_TMC_FIELD", "STEPPER", self.name,
self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
gcode.register_mux_command(
"INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
# Setup driver registers
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
set_config_field = self.fields.set_config_field
# DRVCTRL
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
self.driver_mres = config.getchoice('microsteps', steps)
self.fields.set_field("MRES", self.driver_mres)
set_config_field(config, "DEDGE", 0)
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
set_config_field(config, "TBL", 2)
set_config_field(config, "RNDTF", 0)
set_config_field(config, "HDEC", 0)
set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3)
set_config_field(config, "TOFF", 4)
if not self.fields.get_field("CHM"):
if (self.fields.get_field("HSTRT") +
self.fields.get_field("HEND")) > 15:
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
# SMARTEN
set_config_field(config, "SEIMIN", 0)
set_config_field(config, "SEDN", 0)
set_config_field(config, "SEMAX", 0)
set_config_field(config, "SEUP", 0)
set_config_field(config, "SEMIN", 0)
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
self.current = config.getfloat('run_current', minval=0.1,
maxval=2.4)
self.sense_resistor = config.getfloat('sense_resistor')
(self.driver_cs,
self.driver_vsense) = get_config_current(self.current,
self.sense_resistor)
self.fields.set_field("CS", self.driver_cs)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
self.fields.set_field("VSENSE", self.driver_vsense)
self.fields.set_field("RDSEL", 0) # needed for phase calculations
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
# Init Registers
self._init_registers(self)
# Register ready/printing handlers
self.idle_current_percentage = config.getint(
'idle_current_percent', default=100, minval=0, maxval=100)
if self.idle_current_percentage < 100:
self.printer.register_event_handler("idle_timeout:printing",
self.handle_printing)
self.printer.register_event_handler("idle_timeout:ready",
self.handle_ready)
def _init_registers(self, min_clock=0):
for reg_name in Registers:
self.set_register(reg_name, self.regs[reg_name])
def set_register(self, reg_name, val, min_clock=0):
reg = Registers[reg_name]
self.spi.spi_send([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff], min_clock)
def get_response(self):
reg = Registers["DRVCTRL"]
val = self.regs["DRVCTRL"]
params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff])
pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
mscnt = self.fields.get_field("MSTEP", self.get_response())
return mscnt >> self.driver_mres
def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround
def handle_ready(self, print_time):
self.set_current(print_time, (float(self.idle_current_percentage)
* self.current / 100))
def set_current(self, print_time, current):
(self.driver_cs,
self.driver_vsense) = get_config_current(current, self.sense_resistor)
self.fields.set_field("CS", self.driver_cs)
clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock)
# Only update VSENSE if we need to
if self.driver_vsense != self.fields.get_field("VSENSE"):
self.fields.set_field("VSENSE", self.driver_vsense)
self.set_register("DRVCONF", self.regs["DRVCONF"], min_clock=clock)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float(
'CURRENT', params, minval=0.1, maxval=2.4)
self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(),
self.current)
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')
gcode.respond_info("========== Write-only registers ==========")
for reg_name in Registers:
msg = self.fields.pretty_format(reg_name, self.regs[reg_name])
gcode.respond_info(msg)
# Send one register to get the return data
gcode.respond_info("========== Queried registers ==========")
return_format = "READRSP@RDSEL" + str(self.fields.get_field("RDSEL"))
msg = self.fields.pretty_format(return_format, self.get_response())
gcode.respond_info(msg)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2660 %s", self.name)
pt = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(pt)
self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver"
def cmd_SET_TMC_FIELD(self, params):
gcode = self.printer.lookup_object('gcode')
if ('FIELD' not in params or
'VALUE' not in params):
raise gcode.error("Invalid command format")
field = gcode.get_str('FIELD', params)
reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
pt = self.printer.lookup_object('toolhead').get_last_move_time()
clock = self.spi.get_mcu().print_time_to_clock(pt)
self.set_register(reg, self.regs[reg], min_clock=clock)
def load_config_prefix(config):
return TMC2660(config)
|
