From 35edc4d63c86a3eff759c6639ae8d1d17a19fb66 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 5 Jun 2019 23:36:57 -0400
Subject: [PATCH] tmc2660: Move current setting code to its own helper class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/extras/tmc2660.py | 144 +++++++++++++++++++++------------------
1 file changed, 78 insertions(+), 66 deletions(-)
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
index c2ecff8a8..ae03efe1d 100644
--- a/klippy/extras/tmc2660.py
+++ b/klippy/extras/tmc2660.py
@@ -1,24 +1,12 @@
# TMC2660 configuration
#
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
+# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.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
@@ -133,6 +121,80 @@ FieldFormatters = {
}
+######################################################################
+# TMC stepper current config helper
+######################################################################
+
+MAX_CURRENT = 2.400
+
+class TMC2660CurrentHelper:
+ def __init__(self, config, mcu_tmc):
+ self.printer = config.get_printer()
+ self.name = config.get_name().split()[-1]
+ self.mcu_tmc = mcu_tmc
+ self.fields = mcu_tmc.get_fields()
+ self.current = config.getfloat('run_current', minval=0.1,
+ maxval=MAX_CURRENT)
+ self.sense_resistor = config.getfloat('sense_resistor')
+ vsense, cs = self._calc_current(self.current)
+ self.fields.set_field("CS", cs)
+ self.fields.set_field("VSENSE", vsense)
+
+ # 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)
+
+ 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)
+
+ def _calc_current_bits(self, current, vsense):
+ vref = 0.165 if vsense else 0.310
+ cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
+ - 1. + .5)
+ return max(0, min(31, cs))
+
+ def _calc_current(self, run_current):
+ vsense = False
+ cs = self._calc_current_bits(run_current, vsense)
+ if cs < 16:
+ vsense = True
+ cs = self._calc_current_bits(run_current, vsense)
+ return vsense, cs
+
+ 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):
+ vsense, cs = self._calc_current(current)
+ val = self.fields.set_field("CS", cs)
+ self.mcu_tmc.set_register("SGCSCONF", val, print_time)
+ # Only update VSENSE if we need to
+ if vsense != self.fields.get_field("VSENSE"):
+ val = self.fields.set_field("VSENSE", vsense)
+ self.mcu_tmc.set_register("DRVCONF", val, print_time)
+
+ 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=MAX_CURRENT)
+ self.set_current(
+ self.printer.lookup_object('toolhead').get_last_move_time(),
+ self.current)
+
+
######################################################################
# TMC2660 SPI
######################################################################
@@ -171,25 +233,18 @@ class TMC2660:
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
# Setup mcu communication
- self.regs = collections.OrderedDict()
- self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
- self.regs)
+ self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
self.get_register = self.mcu_tmc.get_register
self.set_register = self.mcu_tmc.set_register
# Register commands
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
- 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
- set_config_field = self.fields.set_config_field
# DRVCTRL
mres = tmc2130.get_config_microsteps(config)
self.fields.set_field("MRES", mres)
+ set_config_field = self.fields.set_config_field
set_config_field(config, "DEDGE", 0)
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
@@ -214,32 +269,16 @@ class TMC2660:
# 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)
+ TMC2660CurrentHelper(config, self.mcu_tmc)
# 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
- # 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 query_registers(self, print_time=0.):
return [(reg_name, self.get_register(reg_name))
for reg_name in ReadRegisters]
@@ -252,32 +291,5 @@ class TMC2660:
mscnt = self.fields.get_field("MSTEP", reg)
return mscnt >> self.fields.get_field("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)
- self.set_register("SGCSCONF", self.regs["SGCSCONF"], print_time)
- # 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"], print_time)
-
- 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)
-
def load_config_prefix(config):
return TMC2660(config)