tmc2208: Add helper for setting fields from the config file

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-02-03 13:03:44 -05:00
parent 83001959f1
commit 17a17c5b77
1 changed files with 42 additions and 45 deletions

View File

@ -285,66 +285,52 @@ class TMC2208:
gcode.register_mux_command( gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name, "DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
# Get config for initial driver settings # Setup basic register values
self.ifcnt = None
self.field_helper = tmc2130.FieldHelper(Fields, FieldFormatters) self.field_helper = tmc2130.FieldHelper(Fields, FieldFormatters)
self.regs = collections.OrderedDict()
self.set_field("pdn_disable", True)
self.set_field("mstep_reg_select", True)
self.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.set_field("MRES", mres)
# Calculate current
vsense = False
run_current = config.getfloat('run_current', above=0., maxval=2.) run_current = config.getfloat('run_current', above=0., maxval=2.)
hold_current = config.getfloat('hold_current', run_current, hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=2.) above=0., maxval=2.)
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = config.getchoice('microsteps', steps)
interpolate = config.getboolean('interpolate', True)
sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
tpowerdown = config.getint('driver_TPOWERDOWN', 20, minval=0, maxval=255)
blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 2,
minval=0, maxval=3)
toff = config.getint('driver_TOFF', 3, minval=1, maxval=15)
hend = config.getint('driver_HEND', 0, minval=0, maxval=15)
hstrt = config.getint('driver_HSTRT', 5, minval=0, maxval=7)
pwm_autograd = config.getboolean('driver_PWM_AUTOGRAD', True)
pwm_autoscale = config.getboolean('driver_PWM_AUTOSCALE', True)
pwm_lim = config.getint('driver_PWM_LIM', 12, minval=0, maxval=15)
pwm_reg = config.getint('driver_PWM_REG', 8, minval=0, maxval=15)
pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
pwm_grad = config.getint('driver_PWM_GRAD', 14, minval=0, maxval=255)
pwm_ofs = config.getint('driver_PWM_OFS', 36, minval=0, maxval=255)
# calculate current
vsense = False
irun = self.current_bits(run_current, sense_resistor, vsense) irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense) ihold = self.current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16: if irun < 16 and ihold < 16:
vsense = True vsense = True
irun = self.current_bits(run_current, sense_resistor, vsense) irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense) ihold = self.current_bits(hold_current, sense_resistor, vsense)
# Configure registers
self.ifcnt = None
self.regs = collections.OrderedDict()
self.set_field("en_spreadCycle", not sc_velocity)
self.set_field("pdn_disable", True)
self.set_field("mstep_reg_select", True)
self.set_field("multistep_filt", True)
self.set_field("toff", toff)
self.set_field("hstrt", hstrt)
self.set_field("hend", hend)
self.set_field("TBL", blank_time_select)
self.set_field("vsense", vsense) self.set_field("vsense", vsense)
self.set_field("MRES", mres)
self.set_field("intpol", interpolate)
self.set_field("IHOLD", ihold) self.set_field("IHOLD", ihold)
self.set_field("IRUN", irun) self.set_field("IRUN", irun)
self.set_field("IHOLDDELAY", iholddelay) # Setup stealthchop
self.set_field("TPOWERDOWN", tpowerdown) sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
self.set_field("en_spreadCycle", not sc_velocity)
self.set_field("TPWMTHRS", max(0, min(0xfffff, sc_threshold))) self.set_field("TPWMTHRS", max(0, min(0xfffff, sc_threshold)))
self.set_field("PWM_OFS", pwm_ofs) # Allow other registers to be set from the config
self.set_field("PWM_GRAD", pwm_grad) self.set_config_field(config, "toff", 3)
self.set_field("pwm_freq", pwm_freq) self.set_config_field(config, "hstrt", 5)
self.set_field("pwm_autoscale", pwm_autoscale) self.set_config_field(config, "hend", 0)
self.set_field("pwm_autograd", pwm_autograd) self.set_config_field(config, "TBL", 2, "driver_BLANK_TIME_SELECT")
self.set_field("PWM_REG", pwm_reg) self.set_config_field(config, "intpol", True, "interpolate")
self.set_field("PWM_LIM", pwm_lim) self.set_config_field(config, "IHOLDDELAY", 8)
self.set_config_field(config, "TPOWERDOWN", 20)
self.set_config_field(config, "PWM_OFS", 36)
self.set_config_field(config, "PWM_GRAD", 14)
self.set_config_field(config, "pwm_freq", 1)
self.set_config_field(config, "pwm_autoscale", True)
self.set_config_field(config, "pwm_autograd", True)
self.set_config_field(config, "PWM_REG", 8)
self.set_config_field(config, "PWM_LIM", 12)
def current_bits(self, current, sense_resistor, vsense_on): def current_bits(self, current, sense_resistor, vsense_on):
sense_resistor += 0.020 sense_resistor += 0.020
vsense = 0.32 vsense = 0.32
@ -379,6 +365,17 @@ class TMC2208:
reg_name = self.field_helper.lookup_register(field_name) reg_name = self.field_helper.lookup_register(field_name)
self.regs[reg_name] = self.field_helper.set_field( self.regs[reg_name] = self.field_helper.set_field(
reg_name, field_name, self.regs.get(reg_name, 0), field_value) reg_name, field_name, self.regs.get(reg_name, 0), field_value)
def set_config_field(self, config, field_name, default, config_name=None):
# Allow a field to be set from the config file
reg_name = self.field_helper.lookup_register(field_name)
if config_name is None:
config_name = "driver_" + field_name.upper()
maxval = self.field_helper.get_field(reg_name, field_name, 0xffffffff)
if maxval == 1:
val = config.getboolean(config_name, default)
else:
val = config.getint(config_name, default, minval=0, maxval=maxval)
self.set_field(field_name, val)
def handle_connect(self): def handle_connect(self):
for reg_name, val in self.regs.items(): for reg_name, val in self.regs.items():
self.set_register(reg_name, val) self.set_register(reg_name, val)