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tmc2130: add SET_TMC_CURRENT and SET_TMC_FIELD commands (#1419)

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Signed-off-by: Frank Kang <amblidex@outlook.com>
This commit is contained in:
amblidex 2019-03-22 18:37:03 -06:00 • committed by KevinOConnor
parent 7a344acde8
commit 0980b7e4ec
3 changed files with 132 additions and 12 deletions
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80
klippy/extras/tmc2130.py
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@ -166,12 +166,16 @@ def current_bits(current, sense_resistor, vsense_on):
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
return max(0, min(31, cs))
def get_config_current(config):
def bits_to_current(bits, sense_resistor, vsense_on):
sense_resistor += 0.020
vsense = 0.32
if vsense_on:
vsense = 0.18
current = (bits + 1) * vsense / (32 * sense_resistor * math.sqrt(2.))
return round(current, 2)
def calc_current_config(run_current, hold_current, sense_resistor):
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 = current_bits(run_current, sense_resistor, vsense)
ihold = current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16:
@ -180,6 +184,15 @@ def get_config_current(config):
ihold = current_bits(hold_current, sense_resistor, vsense)
return vsense, irun, ihold
def get_config_current(config):
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.)
vsense, irun, ihold = calc_current_config(
run_current, hold_current, sense_resistor)
return vsense, irun, ihold, sense_resistor
def get_config_microsteps(config):
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
@ -213,16 +226,22 @@ class TMC2130:
ppins.register_chip("tmc2130_" + 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 = FieldHelper(Fields, FieldFormatters, self.regs)
vsense, irun, ihold = get_config_current(config)
vsense, irun, ihold, self.sense_resistor = get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
@ -272,6 +291,42 @@ class TMC2130:
def get_phase(self):
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
return mscnt >> self.fields.get_field("MRES")
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2130 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
vsense = bool(self.fields.get_field("vsense"))
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=2.)
else:
hold_current = bits_to_current(
self.fields.get_field("IHOLD"),
self.sense_resistor,
vsense)
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=2.)
else:
run_current = bits_to_current(
self.fields.get_field("IRUN"),
self.sense_resistor,
vsense)
if 'HOLDCURRENT' in params or 'CURRENT' in params:
print_time = self.printer.lookup_object('toolhead')\
.get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
vsense_calc, irun, ihold = calc_current_config(run_current,
hold_current, self.sense_resistor)
if (vsense_calc != vsense):
self.fields.set_field("vsense", vsense_calc)
self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
else:
gcode.respond_info(
"Run Current: %0.2fA Hold Current: %0.2fA"
% (run_current, hold_current))
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
def cmd_DUMP_TMC(self, params):
self.printer.lookup_object('toolhead').get_last_move_time()
@ -291,6 +346,19 @@ class TMC2130:
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 driver"
def cmd_SET_TMC_FIELD(self, params):
gcode = self.printer.lookup_object('gcode')
if ('FIELD' not in params or
'VALUE' not in params):
raise gcode.error("Invalid command format")
field = gcode.get_str('FIELD', params)
reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register(reg, self.regs[reg], min_clock)
# Endstop wrapper that enables tmc2130 "sensorless homing"
class TMC2130VirtualEndstop: