tmc2209: Initial support for tmc2209 stepper driver

Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-06-18 19:43:18 +00:00
parent c3467f5b35
commit ec9fad758a
3 changed files with 113 additions and 3 deletions
--- a/klippy/extras/tmc2209.py
+++ b/klippy/extras/tmc2209.py
@@ -0,0 +1,96 @@
+# TMC2209 configuration
+#
+# Copyright (C) 2019  Stephan Oelze <stephan.oelze@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import tmc2208, tmc2130, tmc, tmc_uart
+
+TMC_FREQUENCY=12000000.
+
+Registers = dict(tmc2208.Registers)
+Registers.update({
+    "TCOOLTHRS":    0x14,
+    "COOLCONF":     0x42,
+    "SGTHRS":       0x40,
+    "SG_RESULT":    0x41
+})
+
+ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]
+
+Fields = dict(tmc2208.Fields)
+Fields["COOLCONF"] = {
+    "semin":        0x0F << 0,
+    "seup":         0x03 << 5,
+    "semax":        0x0F << 8,
+    "sedn":         0x03 << 13,
+    "seimin":       0x01 << 15
+}
+Fields["IOIN"] = {
+    "ENN":          0x01 << 0,
+    "MS1":          0x01 << 2,
+    "MS2":          0x01 << 3,
+    "DIAG":         0x01 << 4,
+    "PDN_UART":     0x01 << 6,
+    "STEP":         0x01 << 7,
+    "SPREAD_EN":    0x01 << 8,
+    "DIR":          0x01 << 9,
+    "VERSION":      0xff << 24
+}
+Fields["SGTHRS"] = {
+    "SGTHRS":       0xFF << 0
+}
+Fields["SG_RESULT"] = {
+    "SG_RESULT":    0x3FF << 0
+}
+Fields["TCOOLTHRS"] = {
+    "TCOOLTHRS": 0xfffff
+}
+
+FieldFormatters = dict(tmc2208.FieldFormatters)
+
+
+######################################################################
+# TMC2209 printer object
+######################################################################
+
+class TMC2209:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
+                                      FieldFormatters)
+        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
+        # Register commands
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
+        cmdhelper.setup_register_dump(self.query_registers)
+        # Setup basic register values
+        self.fields.set_field("pdn_disable", True)
+        self.fields.set_field("mstep_reg_select", True)
+        self.fields.set_field("multistep_filt", True)
+        tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
+        mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
+        self.get_microsteps = mh.get_microsteps
+        self.get_phase = mh.get_phase
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        # 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)
+        set_config_field(config, "SGTHRS", 0)
+    def query_registers(self, print_time=0.):
+        return [(reg_name, self.mcu_tmc.get_register(reg_name))
+                for reg_name in ReadRegisters]
+
+def load_config_prefix(config):
+    return TMC2209(config)