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.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, SignedFields,
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__(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.field_helper = tmc2130.FieldHelper(
Fields, FieldFormatters, self.regs)
self.field_helper.set_field("pdn_disable", True)
self.field_helper.set_field("mstep_reg_select", True)
self.field_helper.set_field("multistep_filt", True)
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = config.getchoice('microsteps', steps)
self.field_helper.set_field("MRES", mres)
# Calculate current
vsense = False
run_current = config.getfloat('run_current', above=0., maxval=2.)
hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=2.)
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16:
vsense = True
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
self.field_helper.set_field("vsense", vsense)
self.field_helper.set_field("IHOLD", ihold)
self.field_helper.set_field("IRUN", irun)
# Setup stealthchop
sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
self.field_helper.set_field("en_spreadCycle", not sc_velocity)
self.field_helper.set_field("TPWMTHRS", sc_threshold)
# Allow other registers to be set from the config
set_config_field = self.field_helper.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=100000)
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins = self.printer.lookup_object("pins")
ppins.register_chip("tmc5160_" + self.name, self)
# 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.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(fields, SignedFields,
FieldFormatters, self.regs)
irun, ihold, self.sense_resistor = get_config_current(config)
msteps, en_pwm, thresh = \
tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field
# CHOPCONF
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 2)
set_config_field(config, "fd3", 0)
set_config_field(config, "disfdcc", 0)
set_config_field(config, "chm", 0)
set_config_field(config, "tbl", 2)
set_config_field(config, "vhighfs", 0)
set_config_field(config, "vhighchm", 0)
set_config_field(config, "tpfd", 4)
self.fields.set_field("mres", msteps) # microsteps
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "dedge", 0)
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
set_config_field(config, "semin", 0) # page 52
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
set_config_field(config, "seimin", 0)
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# GCONF
self.fields.set_field("en_pwm_mode", en_pwm)
# IHOLDIRUN
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)
set_config_field(config, "PWM_GRAD", 0)
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, "freewheel", 0)
set_config_field(config, "PWM_REG", 4)
set_config_field(config, "PWM_LIM", 12)
# TPWMTHRS
self.fields.set_field("TPWMTHRS", thresh)
# TPOWERDOWN
set_config_field(config, "TPOWERDOWN", 10)
self._init_registers()
