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CreatBotKlipper/klippy/extras/tmc2660.py
Kevin O'Connor e24709b112 tmc2660: Use common warning/error flag names and descriptions 
Where the tmc2660 flags match other drivers, use lowercase so that the
same monitoring code can be used for all the tmc drivers.  Also, use
the same field formatters where applicable.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-02-27 10:39:47 -05:00

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# TMC2660 configuration
#
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
from . import bus, tmc, tmc2130
Registers = {
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
"CHOPCONF": 0x8, "DRVCTRL": 0x0
}
ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
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
}
SignedFields = ["SGT"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"DEDGE": (lambda v: "1(Both Edges Active!)" if v else ""),
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"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 ""),
"DISS2G": (lambda v: "%d(Short to GND disabled!)" if v else ""),
"SG": (lambda v: "1(Stall!)" if v else ""),
})
######################################################################
# 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)
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):
print_time -= 0.100 # Schedule slightly before deadline
self.printer.get_reactor().register_callback(
(lambda ev: self._update_current(self.current, print_time)))
def _handle_ready(self, print_time):
current = self.current * float(self.idle_current_percentage) / 100.
self.printer.get_reactor().register_callback(
(lambda ev: self._update_current(current, print_time)))
def _update_current(self, current, print_time):
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)
def get_current(self):
return self.current, None, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
self.current = run_current
self._update_current(run_current, print_time)
######################################################################
# TMC2660 SPI
######################################################################
# Helper code for working with TMC2660 devices via SPI
class MCU_TMC2660_SPI:
def __init__(self, config, name_to_reg, fields):
self.printer = config.get_printer()
self.mutex = self.printer.get_reactor().mutex()
self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
self.name_to_reg = name_to_reg
self.fields = fields
def get_fields(self):
return self.fields
def get_register(self, reg_name):
reg = self.name_to_reg["DRVCONF"]
val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
params = self.spi.spi_transfer(msg)
pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
def set_register(self, reg_name, val, print_time=None):
minclock = 0
if print_time is not None:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
reg = self.name_to_reg[reg_name]
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
self.spi.spi_send(msg, minclock)
######################################################################
# TMC2660 printer object
######################################################################
class TMC2660:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# DRVCTRL
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
# CHOPCONF
set_config_field = self.fields.set_config_field
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)
# 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)
def load_config_prefix(config):
return TMC2660(config)
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