tmc2130: Rework remaining config helpers to use mcu_tmc interface
Introduce TMCMicrostepHelper and TMCStealthchopHelper helper code that uses the mcu_tmc interface. Update the callers to use these new helpers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
7f34264101
commit
10c0da9a6c
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@ -360,22 +360,45 @@ class TMCCurrentHelper:
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# Config reading helpers
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######################################################################
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def get_config_microsteps(config):
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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return config.getchoice('microsteps', steps)
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# Helper to configure and query the microstep settings
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class TMCMicrostepHelper:
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def __init__(self, config, mcu_tmc):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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mres = config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", mres)
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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field_name = "MSCNT"
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if self.fields.lookup_register(field_name, None) is None:
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# TMC2660 uses MSTEP
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field_name = "MSTEP"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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mscnt = self.fields.get_field(field_name, reg)
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return mscnt >> self.fields.get_field("MRES")
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def get_config_stealthchop(config, tmc_freq):
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mres = get_config_microsteps(config)
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# Helper to configure "stealthchop" mode
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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fields = mcu_tmc.get_fields()
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en_pwm_mode = False
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if not velocity:
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return mres, False, 0
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stepper_name = " ".join(config.get_name().split()[1:])
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << mres)
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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return mres, True, max(0, min(0xfffff, threshold))
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if velocity:
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stepper_name = " ".join(config.get_name().split()[1:])
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
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en_pwm_mode = True
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reg = fields.lookup_register("en_pwm_mode", None)
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if reg is not None:
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fields.set_field("en_pwm_mode", en_pwm_mode)
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else:
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# TMC2208 uses en_spreadCycle
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fields.set_field("en_spreadCycle", not en_pwm_mode)
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######################################################################
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@ -413,13 +436,9 @@ class MCU_TMC_SPI:
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class TMC2130:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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# Setup mcu communication
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self.fields = FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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# Allow virtual endstop to be created
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diag1_pin = config.get('diag1_pin', None)
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TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
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@ -428,10 +447,10 @@ class TMC2130:
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cmdhelper.setup_register_dump(self.query_registers)
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# Setup basic register values
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TMCCurrentHelper(config, self.mcu_tmc)
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mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
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self.fields.set_field("MRES", mres)
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self.fields.set_field("en_pwm_mode", en_pwm)
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self.fields.set_field("TPWMTHRS", thresh)
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mh = TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 4)
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@ -447,13 +466,8 @@ class TMC2130:
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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def query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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return [(reg_name, self.mcu_tmc.get_register(reg_name))
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for reg_name in ReadRegisters]
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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def load_config_prefix(config):
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return TMC2130(config)
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@ -307,13 +307,9 @@ class MCU_TMC_uart:
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class TMC2208:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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# Setup mcu communication
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = MCU_TMC_uart(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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# Register commands
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cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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@ -322,10 +318,10 @@ class TMC2208:
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self.fields.set_field("mstep_reg_select", True)
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self.fields.set_field("multistep_filt", True)
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tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
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mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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self.fields.set_field("MRES", mres)
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self.fields.set_field("en_spreadCycle", not en)
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self.fields.set_field("TPWMTHRS", thresh)
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mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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tmc2130.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 3)
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@ -345,7 +341,7 @@ class TMC2208:
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def query_registers(self, print_time=0.):
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out = []
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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val = self.mcu_tmc.get_register(reg_name)
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# IOIN has different mappings depending on the driver type
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# (SEL_A field of IOIN reg)
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if reg_name == "IOIN":
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@ -353,11 +349,6 @@ class TMC2208:
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reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
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out.append((reg_name, val))
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return out
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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def load_config_prefix(config):
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return TMC2208(config)
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@ -230,20 +230,17 @@ class MCU_TMC2660_SPI:
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class TMC2660:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[1]
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# Setup mcu communication
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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# Register commands
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cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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# DRVCTRL
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mres = tmc2130.get_config_microsteps(config)
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self.fields.set_field("MRES", mres)
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mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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set_config_field = self.fields.set_config_field
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set_config_field(config, "DEDGE", 0)
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set_config_field(config, "INTPOL", True, 'interpolate')
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@ -280,16 +277,8 @@ class TMC2660:
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self.fields.set_field("SDOFF", 0) # only step/dir mode supported
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def query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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return [(reg_name, self.mcu_tmc.get_register(reg_name))
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for reg_name in ReadRegisters]
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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reg = self.get_register("READRSP@RDSEL0")
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mscnt = self.fields.get_field("MSTEP", reg)
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return mscnt >> self.fields.get_field("MRES")
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def load_config_prefix(config):
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return TMC2660(config)
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@ -99,7 +99,7 @@ Fields["CHOPCONF"] = {
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"vhighfs": 0x01 << 18,
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"vhighchm": 0x01 << 19,
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"tpfd": 0x0F << 20, # midrange resonances
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"mres": 0x0F << 24,
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"MRES": 0x0F << 24,
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"intpol": 0x01 << 28,
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"dedge": 0x01 << 29,
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"diss2g": 0x01 << 30,
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@ -288,13 +288,9 @@ class TMC5160CurrentHelper:
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class TMC5160:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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# Setup mcu communication
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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# Allow virtual endstop to be created
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diag1_pin = config.get('diag1_pin', None)
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tmc2130.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
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@ -302,10 +298,12 @@ class TMC5160:
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cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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# Setup basic register values
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msteps, en_pwm, thresh = \
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tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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set_config_field = self.fields.set_config_field
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mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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tmc2130.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# CHOPCONF
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 3)
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set_config_field(config, "hstrt", 5)
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set_config_field(config, "hend", 2)
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@ -316,7 +314,6 @@ class TMC5160:
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set_config_field(config, "vhighfs", 0)
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set_config_field(config, "vhighchm", 0)
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set_config_field(config, "tpfd", 4)
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self.fields.set_field("mres", msteps) # microsteps
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set_config_field(config, "intpol", True, "interpolate")
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set_config_field(config, "dedge", 0)
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set_config_field(config, "diss2g", 0)
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@ -329,8 +326,6 @@ class TMC5160:
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set_config_field(config, "seimin", 0)
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set_config_field(config, "sgt", 0)
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set_config_field(config, "sfilt", 0)
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# GCONF
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self.fields.set_field("en_pwm_mode", en_pwm)
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# IHOLDIRUN
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TMC5160CurrentHelper(config, self.mcu_tmc)
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set_config_field(config, "IHOLDDELAY", 6)
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@ -343,18 +338,11 @@ class TMC5160:
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set_config_field(config, "freewheel", 0)
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set_config_field(config, "PWM_REG", 4)
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set_config_field(config, "PWM_LIM", 12)
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# TPWMTHRS
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self.fields.set_field("TPWMTHRS", thresh)
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# TPOWERDOWN
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set_config_field(config, "TPOWERDOWN", 10)
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def query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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return [(reg_name, self.mcu_tmc.get_register(reg_name))
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for reg_name in ReadRegisters]
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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def load_config_prefix(config):
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return TMC5160(config)
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