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tmc2660: Wrap code to 80 columns 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-02-27 14:32:46 -05:00
parent c1670ea336
commit 1b064b5a5d
1 changed files with 56 additions and 26 deletions
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82
klippy/extras/tmc2660.py
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@ -96,41 +96,55 @@ class TMC2660:
'8': 5, '4': 6, '2': 7, '1': 8} '8': 5, '4': 6, '2': 7, '1': 8}
self.driver_mres = config.getchoice('microsteps', steps) self.driver_mres = config.getchoice('microsteps', steps)
self.driver_intpol = config.getboolean('interpolate', default=True) self.driver_intpol = config.getboolean('interpolate', default=True)
self.current = config.getfloat('run_current', minval=CURRENT_MIN, maxval=CURRENT_MAX) self.current = config.getfloat('run_current', minval=CURRENT_MIN,
maxval=CURRENT_MAX)
self.driver_dedge = config.getboolean('driver_DEDGE', default=False) self.driver_dedge = config.getboolean('driver_DEDGE', default=False)
# CHOPCONF # CHOPCONF
btime = {'16': 0, '24': 1, '36': 2, '54': 3} btime = {'16': 0, '24': 1, '36': 2, '54': 3}
self.driver_tbl = config.getchoice('driver_TBL', btime, default='36') self.driver_tbl = config.getchoice('driver_TBL', btime, default='36')
chm = {'spreadcycle': 0, 'constant_toff': 1} chm = {'spreadcycle': 0, 'constant_toff': 1}
self.driver_chm = config.getchoice('driver_CHM', chm, default='spreadcycle') self.driver_chm = config.getchoice('driver_CHM', chm,
default='spreadcycle')
self.driver_rndtf = config.getboolean('driver_RNDTF', False) self.driver_rndtf = config.getboolean('driver_RNDTF', False)
if self.driver_chm: if self.driver_chm:
self.driver_hend = config.getint('driver_HEND', default=7, minval=-3, maxval=12) + 3 self.driver_hend = config.getint('driver_HEND', default=7,
self.driver_hstrt = config.getint('driver_HSTRT', default=5, minval=0, maxval=15) minval=-3, maxval=12) + 3
self.driver_toff = config.getint('driver_TOFF', default=7, minval=0, maxval=15) self.driver_hstrt = config.getint('driver_HSTRT', default=5,
self.driver_hdec = config.getboolean('driver_HDEC', default=False) | ((self.driver_hstrt & 0x8) >> 1) # if chm is 1, HDEC1 is the MSB of HSTRT minval=0, maxval=15)
self.driver_toff = config.getint('driver_TOFF', default=7,
minval=0, maxval=15)
# if chm is 1, HDEC1 is the MSB of HSTRT
self.driver_hdec = (config.getboolean('driver_HDEC', default=False)
| ((self.driver_hstrt & 0x8) >> 1))
else: else:
self.driver_hdec = config.getboolean('driver_HDEC', default=False) self.driver_hdec = config.getboolean('driver_HDEC', default=False)
self.driver_hend = config.getint('driver_HEND', default=3, minval=-3, maxval=12) + 3 self.driver_hend = config.getint('driver_HEND', default=3,
self.driver_hstrt = config.getint('driver_HSTRT', default=4, minval=1, maxval=8) - 1 minval=-3, maxval=12) + 3
self.driver_toff = config.getint('driver_TOFF', default=4, minval=0, maxval=15) self.driver_hstrt = config.getint('driver_HSTRT', default=4,
minval=1, maxval=8) - 1
self.driver_toff = config.getint('driver_TOFF', default=4,
minval=0, maxval=15)
if self.driver_hstrt + self.driver_hend > 15: if self.driver_hstrt + self.driver_hend > 15:
raise config.error("driver_HEND + HSTRT must be <= 15") raise config.error("driver_HEND + HSTRT must be <= 15")
# SMARTEN # SMARTEN
csc = {'quarter': 1, 'half': 0} csc = {'quarter': 1, 'half': 0}
self.driver_seimin = config.getchoice('driver_SEIMIN', csc, default='half') self.driver_seimin = config.getchoice('driver_SEIMIN', csc,
default='half')
cds = {'32': 0, '8': 1, '2': 2, '1': 3} cds = {'32': 0, '8': 1, '2': 2, '1': 3}
self.driver_sedn = config.getchoice('driver_SEDN', cds, default='32') self.driver_sedn = config.getchoice('driver_SEDN', cds, default='32')
self.driver_semax = config.getint('driver_SEMAX', default=0, minval=0, maxval=15) self.driver_semax = config.getint('driver_SEMAX', default=0,
minval=0, maxval=15)
cis = {'1': 0, '2': 1, '4': 2, '8': 3} cis = {'1': 0, '2': 1, '4': 2, '8': 3}
self.driver_seup = config.getchoice('driver_SEUP', cis, default='1') self.driver_seup = config.getchoice('driver_SEUP', cis, default='1')
self.driver_semin = config.getint('driver_SEMIN', default=0, minval=0, maxval=15) self.driver_semin = config.getint('driver_SEMIN', default=0,
minval=0, maxval=15)
# SGSCONF # SGSCONF
self.driver_sfilt = config.getboolean('driver_SFILT', default=True) self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
self.driver_sgt = config.getint('driver_sgt', default=-64, minval=-64, maxval=63) + 64 self.driver_sgt = config.getint('driver_sgt', default=-64,
minval=-64, maxval=63) + 64
self.driver_cs = current_to_reg(self.current) self.driver_cs = current_to_reg(self.current)
# DRVCONF # DRVCONF
@ -141,9 +155,11 @@ class TMC2660:
self.driver_diss2g = config.getboolean('driver_DISS2G', default=False) self.driver_diss2g = config.getboolean('driver_DISS2G', default=False)
ts2g = {'3.2': 0, '1.6': 1, '1.2': 2, '0.8': 3} ts2g = {'3.2': 0, '1.6': 1, '1.2': 2, '0.8': 3}
self.driver_ts2g = config.getchoice('driver_TS2G', ts2g, default='0.8') self.driver_ts2g = config.getchoice('driver_TS2G', ts2g, default='0.8')
self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False # since we don't support SPI mode yet, this has to be False
self.driver_sdoff = False
vsense = {'low': 0, 'high': 1} vsense = {'low': 0, 'high': 1}
self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high') self.driver_vsense = config.getchoice('driver_VSENSE', vsense,
default='high')
self.driver_rdsel = 0 # Microsteps (used by endstop phase) self.driver_rdsel = 0 # Microsteps (used by endstop phase)
# Build and send registers # Build and send registers
@ -189,7 +205,8 @@ class TMC2660:
self.add_config_cmd(self.reg_smarten) self.add_config_cmd(self.reg_smarten)
# Idle timeout # Idle timeout
self.idle_current_percentage = config.getint('idle_current_percent', default=100, minval=0, maxval=100) self.idle_current_percentage = config.getint(
'idle_current_percent', default=100, minval=0, maxval=100)
if self.idle_current_percentage < 100: if self.idle_current_percentage < 100:
self.printer.register_event_handler("idle_timeout:printing", self.printer.register_event_handler("idle_timeout:printing",
self.handle_printing) self.handle_printing)
@ -205,17 +222,20 @@ class TMC2660:
def get_phase(self): def get_phase(self):
# Send DRVCTRL to get a response # Send DRVCTRL to get a response
reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff] reg_data = [(self.reg_drvctrl >> 16) & 0xff,
(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
params = self.spi.spi_transfer(reg_data) params = self.spi.spi_transfer(reg_data)
pr = bytearray(params['response']) pr = bytearray(params['response'])
steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0] steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2])
& READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
return steps >> self.driver_mres return steps >> self.driver_mres
def handle_printing(self, print_time): def handle_printing(self, print_time):
self.set_current(print_time, self.current) self.set_current(print_time, self.current)
def handle_ready(self, print_time): def handle_ready(self, print_time):
self.set_current(print_time, float(self.idle_current_percentage) * self.current / 100) self.set_current(print_time, (float(self.idle_current_percentage)
* self.current / 100))
def set_current(self, print_time, current): def set_current(self, print_time, current):
self.driver_cs = current_to_reg(current) self.driver_cs = current_to_reg(current)
@ -226,26 +246,36 @@ class TMC2660:
clock = self.spi.get_mcu().print_time_to_clock(print_time) clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.spi.spi_send(reg_data, minclock=clock, reqclock=clock) self.spi.spi_send(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) 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): def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params: if 'CURRENT' in params:
self.current = gcode.get_float('CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX) self.current = gcode.get_float(
self.set_current(self.printer.lookup_object('toolhead').get_last_move_time(), self.current) 'CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX)
self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(),
self.current)
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
def cmd_DUMP_TMC(self, params): def cmd_DUMP_TMC(self, params):
self.printer.lookup_object('toolhead').get_last_move_time() self.printer.lookup_object('toolhead').get_last_move_time()
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
for reg_name , val in zip(["DRVCONF", "DRVCTRL", "CHOPCONF", "SGCSCONF", "SMARTEN"], for reg_name , val in zip(["DRVCONF", "DRVCTRL", "CHOPCONF",
[self.reg_drvconf, self.reg_drvctrl, self.reg_chopconf, self.reg_sgcsconf, self.reg_smarten]): "SGCSCONF", "SMARTEN"],
[self.reg_drvconf, self.reg_drvctrl,
self.reg_chopconf, self.reg_sgcsconf,
self.reg_smarten]):
msg = "%-15s %08x" % (reg_name + " (cached):", val) msg = "%-15s %08x" % (reg_name + " (cached):", val)
gcode.respond_info(msg) gcode.respond_info(msg)
# Send one register to get the return data # Send one register to get the return data
reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff] reg_data = [(self.reg_drvctrl >> 16) & 0xff,
(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
params = self.spi.spi_transfer(reg_data) params = self.spi.spi_transfer(reg_data)
pr = bytearray(params['response']) pr = bytearray(params['response'])
msg = "%-15s %08x" % ("RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2])) msg = "%-15s %08x" % (
"RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2]))
gcode.respond_info(msg) gcode.respond_info(msg)
def load_config_prefix(config): def load_config_prefix(config):