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Implement idle event support in the TMC2660 extra

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Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2018-10-24 16:17:49 +00:00 • committed by Kevin O'Connor
parent d25e02144c
commit 4372d1812c
2 changed files with 39 additions and 65 deletions
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75
klippy/extras/tmc2660.py
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@ -82,7 +82,7 @@ class TMC2660:
self.name = config.get_name().split()[1]
self.toolhead = None
# pin setup
# Generic setup
ppins = self.printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin(cs_pin)
@ -91,24 +91,19 @@ class TMC2660:
raise pins.error("tmc2660 can not invert pin")
pin = cs_pin_params['pin']
self.oid = self.mcu.create_oid()
self.bus = config.getint('bus', minval=0, maxval=3)
self.freq = config.getint('freq', default=2000000, minval=1000000, maxval=4000000)
self.mcu.add_config_cmd(
"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
self.oid, self.bus, cs_pin_params['pin'], 0, self.freq))
self.spi_send_cmd = self.spi_transfer_cmd = None
self.mcu.register_config_callback(self.build_config)
# Add SET_CURRENT 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)
# Setup driver registers
self.bus = config.getint('bus', minval=0, maxval=3)
self.freq = config.getint('freq', default=2000000, minval=1000000, maxval=4000000)
self.mcu.add_config_cmd(
"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
self.oid, self.bus, cs_pin_params['pin'], 0, self.freq))
self.spi_send_cmd = self.spi_transfer_cmd = None
self.mcu.register_config_callback(self.build_config)
self.idle_current_percentage = config.getint('idle_current_percent', default=30, minval=0, maxval=100)
self.idle_timeout = config.getfloat('idle_timeout', default=0., minval=0)
self.is_idle = False
# DRVCTRL
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
@ -164,7 +159,6 @@ class TMC2660:
self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high')
self.driver_rdsel = 0 # Microsteps (used by endstop phase)
# Build and send registers
self.reg_drvconf = REG_DRVCONF | \
get_bits(DRVCONF, "TST", 0) | \
@ -207,6 +201,14 @@ class TMC2660:
get_bits(SMARTEN, "SEMIN", self.driver_semin)
self.add_config_cmd(self.reg_smarten)
# Idle timeout
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 add_config_cmd(self, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%06x" % (
self.oid, val & 0xffffff))
@ -218,36 +220,6 @@ class TMC2660:
self.spi_transfer_cmd = self.mcu.lookup_command(
"spi_transfer oid=%c data=%*s", cq=cmd_queue)
# register timeout handler which will lower the current to current * idle_current_percent / 100 after idle_timeout seconds
# and raise it back to current if the printer needs to move the steppers
def printer_state(self, state):
if state == 'ready' and self.idle_timeout > 0:
self.toolhead = self.printer.lookup_object('toolhead')
reactor = self.printer.get_reactor()
reactor.register_timer(self.idle_timeout_handler, reactor.NOW)
# timeout handler to lower/raise current when entering/leaving the idle state
def idle_timeout_handler(self, eventtime):
info = self.toolhead.get_status(eventtime)
status = info['status']
print_time = info['print_time']
if status == 'Printing':
if self.is_idle:
self.set_current(self.current)
self.is_idle = False
return eventtime + self.idle_timeout
estimated_print_time = info['estimated_print_time']
elapsed_time = estimated_print_time - print_time
if elapsed_time < self.idle_timeout:
if self.is_idle:
self.set_current(self.current)
self.is_idle = False
return eventtime + self.idle_timeout - elapsed_time
if not self.is_idle:
self.set_current(float(self.idle_current_percentage) * self.current / 100)
self.is_idle = True
return eventtime + 0.1
def get_microsteps(self):
return 256 >> self.driver_mres
@ -259,22 +231,27 @@ class TMC2660:
steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
return steps >> self.driver_mres
def set_current(self, current):
def handle_printing(self, print_time):
self.set_current(print_time, self.current)
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 = current_to_reg(current)
reg = self.reg_sgcsconf
reg &= ~(SGCSCONF["CS"][1])
reg |= get_bits(SGCSCONF, "CS", self.driver_cs)
reg_data = [(reg >> 16) & 0xff, (reg >> 8) & 0xff, reg & 0xff]
params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid)
clock = self.mcu.print_time_to_clock(print_time)
params = self.spi_send_cmd.send([self.oid, reg_data], minclock=clock, reqclock=clock)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver (between %d and %d)" % (CURRENT_MIN, CURRENT_MAX)
def cmd_SET_TMC_CURRENT(self, params):
self.printer.lookup_object('toolhead').get_last_move_time()
gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params:
self.current = gcode.get_float('CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX)
if not self.is_idle:
self.set_current(self.current)
self.set_current(self.printer.lookup_object('toolhead').get_last_move_time(), self.current)
def load_config_prefix(config):
return TMC2660(config)