def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
# pin setup
ppins = self.printer.lookup_object("pins")
rx_pin_params = ppins.lookup_pin(
config.get('uart_pin'), can_pullup=True)
tx_pin_desc = config.get('tx_pin', None)
if tx_pin_desc is None:
tx_pin_params = rx_pin_params
else:
tx_pin_params = ppins.lookup_pin(tx_pin_desc)
if rx_pin_params['chip'] is not tx_pin_params['chip']:
raise ppins.error("TMC2208 rx and tx pins must be on the same mcu")
self.mcu = rx_pin_params['chip']
self.pullup = rx_pin_params['pullup']
self.rx_pin = rx_pin_params['pin']
self.tx_pin = tx_pin_params['pin']
self.oid = self.mcu.create_oid()
self.tmcuart_send_cmd = None
self.mcu.register_config_callback(self.build_config)
# Add DUMP_TMC command
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
# Setup basic register values
self.ifcnt = None
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
vsense, irun, ihold = tmc2130.get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_spreadCycle", not en)
self.fields.set_field("TPWMTHRS", thresh)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
set_config_field(config, "TBL", 2, "driver_BLANK_TIME_SELECT")
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 20)
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, "PWM_REG", 8)
set_config_field(config, "PWM_LIM", 12)
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
self.gcode = self.printer.lookup_object("gcode")
#
self.gcode.register_mux_command("DUMP_TMC",
"STEPPER",
self.name,
self.cmd_DUMP_TMC,
desc=self.cmd_DUMP_TMC_help)
#
# Setup basic register values
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(fields, FieldFormatters, self.regs)
vsense, irun, ihold, self.sense_resistor = tmc2130.get_config_current(
config)
#self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
mres, en_pwm, thresh = tmc2130.get_config_stealthchop(
config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_pwm_mode", en_pwm)
self.fields.set_field("TPWMTHRS", thresh)
#
#
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 4)
set_config_field(config, "hend", 1)
set_config_field(config, "TBL", 2)
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "IHOLDDELAY", 6)
set_config_field(config, "TPOWERDOWN", 10)
set_config_field(config, "PWM_OFS", 128) #
set_config_field(config, "PWM_GRAD", 4) #
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
self.fields.set_field("sgt", sgt)
set_config_field(config, "test_mode", 0)
set_config_field(config, "direct_mode", 0)
#
set_config_field(config, "multistep_filt", 1)
set_config_field(config, "chm", 0)
#
self._init_registers()
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.printer.register_event_handler("klippy:connect",
self._init_registers)
# pin setup
ppins = self.printer.lookup_object("pins")
rx_pin_params = ppins.lookup_pin(
config.get('uart_pin'), can_pullup=True)
tx_pin_desc = config.get('tx_pin', None)
if tx_pin_desc is None:
tx_pin_params = rx_pin_params
else:
tx_pin_params = ppins.lookup_pin(tx_pin_desc)
if rx_pin_params['chip'] is not tx_pin_params['chip']:
raise ppins.error("TMC2208 rx and tx pins must be on the same mcu")
self.mcu = rx_pin_params['chip']
self.pullup = rx_pin_params['pullup']
self.rx_pin = rx_pin_params['pin']
self.tx_pin = tx_pin_params['pin']
self.oid = self.mcu.create_oid()
self.tmcuart_send_cmd = None
self.mcu.register_config_callback(self.build_config)
# Add DUMP_TMC, INIT_TMC 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)
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 basic register values
self.ifcnt = None
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
vsense, irun, ihold, self.sense_resistor = \
tmc2130.get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_spreadCycle", not en)
self.fields.set_field("TPWMTHRS", thresh)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
set_config_field(config, "TBL", 2)
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 20)
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, "PWM_REG", 8)
set_config_field(config, "PWM_LIM", 12)