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
|
# TMC2660 configuration
#
# Copyright (C) 2018 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
CURRENT_MAX = 2.4
CURRENT_MIN = 0.1
REG_DRVCONF = 0xe << 16
REG_SGCSCONF = 0xc << 16
REG_SMARTEN = 0xa << 16
REG_CHOPCONF = 0x8 << 16
REG_DRVCTRL = 0x0 << 16
def get_bits(reg, field, value):
return ((value << reg[field][0]) & reg[field][1])
def read_field(bits, reg, field):
return (bits & reg[field][1]) >> reg[field][0]
def current_to_reg(current):
current_constrained = min(CURRENT_MAX, max(CURRENT_MIN, current))
return int((32 * 1000 * current_constrained - 1600)/3236) # Taken from RRF
DRVCTRL = {
"INTPOL" : (9, 0x00100),
"DEDGE" : (8, 0x00080),
"MRES" : (0, 0x0000F)
}
CHOPCONF = {
"TBL" : (15, 0x18000),
"CHM" : (14, 0x04000),
"RNDTF" : (13, 0x02000),
"HDEC" : (11, 0x01800),
"HEND" : (7, 0x00780),
"HSTRT" : (4, 0x00070),
"TOFF" : (0, 0x0000F)
}
SMARTEN = {
"SEIMIN" : (15, 0x08000),
"SEDN" : (14, 0x06000),
"SEMAX" : (8, 0x00F00),
"SEUP" : (5, 0x00060),
"SEMIN" : (0, 0x0000F)
}
SGCSCONF = {
"SFILT" : (16, 0x10000),
"SGT" : (8, 0x07800),
"CS" : (0, 0x0001F)
}
DRVCONF = {
"TST" : (16, 0x10000),
"SLPH" : (14, 0x0C000),
"SLPL" : (12, 0x03000),
"DISS2G" : (10, 0x00400),
"TS2G" : (8, 0x00300),
"SDOFF" : (7, 0x00080),
"VSENSE" : (6, 0x00040),
"RDSEL" : (4, 0x00030)
}
READRSP = {
"MSTEP" : (10, 0xFFC00),
"STST" : (7, 0x00080),
"OLB" : (6, 0x00040),
"OLA" : (5, 0x00020),
"S2GB" : (4, 0x00010),
"S2GA" : (3, 0x00008),
"OTPW" : (2, 0x00004),
"OT" : (1, 0x00002),
"SG" : (0, 0x00001)
}
class TMC2660:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
self.toolhead = None
# pin setup
ppins = self.printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin(cs_pin)
self.mcu = cs_pin_params['chip']
if cs_pin_params['invert']:
raise pins.error("tmc2660 can not invert pin")
pin = cs_pin_params['pin']
self.oid = self.mcu.create_oid()
# Add SET_CURRENT command
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)
# Setup driver registers
self.bus = config.getint('bus', minval=0, maxval=3)
self.freq = config.getint('freq', default=2000000, minval=1000000, maxval=4000000)
self.mcu.add_config_cmd(
"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
self.oid, self.bus, cs_pin_params['pin'], 0, self.freq))
self.spi_send_cmd = self.spi_transfer_cmd = None
self.mcu.register_config_callback(self.build_config)
self.idle_current_percentage = config.getint('idle_current_percent', default=30, minval=0, maxval=100)
self.idle_timeout = config.getfloat('idle_timeout', default=0., minval=0)
self.is_idle = False
# 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.driver_intpol = config.getboolean('interpolate', default=True)
self.current = config.getfloat('run_current', minval=CURRENT_MIN, maxval=CURRENT_MAX)
self.driver_dedge = config.getboolean('driver_DEDGE', default=False)
# CHOPCONF
btime = {'16': 0, '24': 1, '36': 2, '54': 3}
self.driver_tbl = config.getchoice('driver_TBL', btime, default='36')
chm = {'spreadcycle': 0, 'constant_toff': 1}
self.driver_chm = config.getchoice('driver_CHM', chm, default='spreadcycle')
self.driver_rndtf = config.getboolean('driver_RNDTF', False)
if (self.driver_chm):
self.driver_hend = config.getint('driver_HEND', default=7, minval=-3, maxval=12) + 3
self.driver_hstrt = config.getint('driver_HSTRT', default=5, minval=0, maxval=15)
self.driver_toff = config.getint('driver_TOFF', default=7, minval=0, maxval=15)
self.driver_hdec = config.getboolean('driver_HDEC', default=False) | ((self.hstrt & 0x8) >> 1) # if chm is 1, HDEC1 is the MSB of HSTRT
else:
self.driver_hdec = config.getboolean('driver_HDEC', default=False)
self.driver_hend = config.getint('driver_HEND', default=3, minval=-3, maxval=12) + 3
self.driver_hstrt = config.getint('driver_HSTRT', default=4, minval=1, maxval=8) - 1
self.driver_toff = config.getint('driver_TOFF', default=4, minval=0, maxval=15)
if (self.driver_hstrt + self.driver_hend > 15):
raise pins.error("driver_HEND + HSTRT must be <= 15")
# SMARTEN
csc = {'quarter': 1, 'half': 0}
self.driver_seimin = config.getchoice('driver_SEIMIN', csc, default='half')
cds = {'32': 0, '8': 1, '2': 2, '1': 3}
self.driver_sedn = config.getchoice('driver_SEDN', cds, default='32')
self.driver_semax = config.getint('driver_SEMAX', default=0, minval=0, maxval=15)
cis = {'1': 0, '2': 1, '4': 2, '8': 3}
self.driver_seup = config.getchoice('driver_SEUP', cis, default='1')
self.driver_semin = config.getint('driver_SEMIN', default=0, minval=0, maxval=15)
# SGSCONF
self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
self.driver_sgt = config.getint('driver_sgt', default=-64, minval=-64, maxval=63) + 64
self.driver_cs = current_to_reg(self.current)
# DRVCONF
slph = {'min': 0, 'min_tc': 1, 'med_tc': 2, 'max': 3}
self.driver_slph = config.getchoice('driver_SLPH', slph, default='min')
slpl = {'min': 0, 'med': 2, 'max': 3}
self.driver_slpl = config.getchoice('driver_SLPL', slpl, default='min')
self.driver_diss2g = config.getboolean('driver_DISS2G', default=False)
ts2g = {'3.2': 0, '1.6': 1, '1.2': 2, '0.8': 3}
self.driver_ts2g = config.getchoice('driver_TS2G', ts2g, default='0.8')
self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False
vsense = {'low': 0, 'high': 1}
self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high')
self.driver_rdsel = 2 # stallguard2 and coolstep current level
# Build and send registers
self.reg_drvconf = REG_DRVCONF | \
get_bits(DRVCONF, "TST", 0) | \
get_bits(DRVCONF, "SLPH", self.driver_slph) | \
get_bits(DRVCONF, "SLPL", self.driver_slpl) | \
get_bits(DRVCONF, "DISS2G", self.driver_diss2g) | \
get_bits(DRVCONF, "TS2G", self.driver_ts2g) | \
get_bits(DRVCONF, "SDOFF", self.driver_sdoff) | \
get_bits(DRVCONF, "VSENSE", self.driver_vsense) | \
get_bits(DRVCONF, "RDSEL", self.driver_rdsel)
self.add_config_cmd(self.reg_drvconf)
self.reg_drvctrl = REG_DRVCTRL | \
get_bits(DRVCTRL, "INTPOL", self.driver_intpol) | \
get_bits(DRVCTRL, "DEDGE", self.driver_dedge) | \
get_bits(DRVCTRL, "MRES", self.driver_mres)
self.add_config_cmd(self.reg_drvctrl)
self.reg_chopconf = REG_CHOPCONF | \
get_bits(CHOPCONF, "TBL", self.driver_tbl) | \
get_bits(CHOPCONF, "CHM", self.driver_chm) | \
get_bits(CHOPCONF, "RNDTF", self.driver_rndtf) | \
get_bits(CHOPCONF, "HDEC", self.driver_hdec) | \
get_bits(CHOPCONF, "HEND", self.driver_hend) | \
get_bits(CHOPCONF, "HSTRT", self.driver_hstrt) | \
get_bits(CHOPCONF, "TOFF", self.driver_toff)
self.add_config_cmd(self.reg_chopconf)
self.reg_sgcsconf = REG_SGCSCONF | \
get_bits(SGCSCONF, "SFILT", self.driver_sfilt) | \
get_bits(SGCSCONF, "SGT", self.driver_sgt) | \
get_bits(SGCSCONF, "CS", self.driver_cs)
self.add_config_cmd(self.reg_sgcsconf)
self.reg_smarten = REG_SMARTEN | \
get_bits(SMARTEN, "SEIMIN", self.driver_seimin) | \
get_bits(SMARTEN, "SEDN", self.driver_sedn) | \
get_bits(SMARTEN, "SEMAX", self.driver_semax) | \
get_bits(SMARTEN, "SEUP", self.driver_seup) | \
get_bits(SMARTEN, "SEMIN", self.driver_semin)
self.add_config_cmd(self.reg_smarten)
def add_config_cmd(self, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%06x" % (
self.oid, val & 0xffffff))
def build_config(self):
cmd_queue = self.mcu.alloc_command_queue()
self.spi_send_cmd = self.mcu.lookup_command(
"spi_send oid=%c data=%*s", cq=cmd_queue)
self.spi_transfer_cmd = self.mcu.lookup_command(
"spi_transfer oid=%c data=%*s", cq=cmd_queue)
# register timeout handler which will lower the current to current * idle_current_percent / 100 after idle_timeout seconds
# and raise it back to current if the printer needs to move the steppers
def printer_state(self, state):
if state == 'ready' and self.idle_timeout > 0:
self.toolhead = self.printer.lookup_object('toolhead')
reactor = self.printer.get_reactor()
reactor.register_timer(self.idle_timeout_handler, reactor.NOW)
# timeout handler to lower/raise current when entering/leaving the idle state
def idle_timeout_handler(self, eventtime):
info = self.toolhead.get_status(eventtime)
status = info['status']
print_time = info['print_time']
if status == 'Printing':
if self.is_idle:
self.set_current(self.current)
self.is_idle = False
return eventtime + self.idle_timeout
estimated_print_time = info['estimated_print_time']
elapsed_time = estimated_print_time - print_time
if elapsed_time < self.idle_timeout:
if self.is_idle:
self.set_current(self.current)
self.is_idle = False
return eventtime + self.idle_timeout - elapsed_time
if not self.is_idle:
self.set_current(float(self.idle_current_percentage) * self.current / 100)
self.is_idle = True
return eventtime + 0.1
def set_current(self, current):
self.driver_cs = current_to_reg(current)
reg = self.reg_sgcsconf
reg &= ~(SGCSCONF["CS"][1])
reg |= get_bits(SGCSCONF, "CS", self.driver_cs)
reg_data = [(reg >> 16) & 0xff, (reg >> 8) & 0xff, reg & 0xff]
params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver (between %d and %d)" % (CURRENT_MIN, CURRENT_MAX)
def cmd_SET_TMC_CURRENT(self, params):
self.printer.lookup_object('toolhead').get_last_move_time()
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float('CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX)
if not self.is_idle:
self.set_current(self.current)
def load_config_prefix(config):
return TMC2660(config)
|
