tmc2660: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
c1670ea336
commit
1b064b5a5d
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@ -96,41 +96,55 @@ class TMC2660:
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'8': 5, '4': 6, '2': 7, '1': 8}
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self.driver_mres = config.getchoice('microsteps', steps)
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self.driver_intpol = config.getboolean('interpolate', default=True)
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self.current = config.getfloat('run_current', minval=CURRENT_MIN, maxval=CURRENT_MAX)
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self.current = config.getfloat('run_current', minval=CURRENT_MIN,
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maxval=CURRENT_MAX)
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self.driver_dedge = config.getboolean('driver_DEDGE', default=False)
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# CHOPCONF
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btime = {'16': 0, '24': 1, '36': 2, '54': 3}
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self.driver_tbl = config.getchoice('driver_TBL', btime, default='36')
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chm = {'spreadcycle': 0, 'constant_toff': 1}
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self.driver_chm = config.getchoice('driver_CHM', chm, default='spreadcycle')
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self.driver_chm = config.getchoice('driver_CHM', chm,
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default='spreadcycle')
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self.driver_rndtf = config.getboolean('driver_RNDTF', False)
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if self.driver_chm:
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self.driver_hend = config.getint('driver_HEND', default=7, minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=5, minval=0, maxval=15)
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self.driver_toff = config.getint('driver_TOFF', default=7, minval=0, maxval=15)
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self.driver_hdec = config.getboolean('driver_HDEC', default=False) | ((self.driver_hstrt & 0x8) >> 1) # if chm is 1, HDEC1 is the MSB of HSTRT
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self.driver_hend = config.getint('driver_HEND', default=7,
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minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=5,
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minval=0, maxval=15)
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self.driver_toff = config.getint('driver_TOFF', default=7,
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minval=0, maxval=15)
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# if chm is 1, HDEC1 is the MSB of HSTRT
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self.driver_hdec = (config.getboolean('driver_HDEC', default=False)
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| ((self.driver_hstrt & 0x8) >> 1))
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else:
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self.driver_hdec = config.getboolean('driver_HDEC', default=False)
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self.driver_hend = config.getint('driver_HEND', default=3, minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=4, minval=1, maxval=8) - 1
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self.driver_toff = config.getint('driver_TOFF', default=4, minval=0, maxval=15)
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self.driver_hend = config.getint('driver_HEND', default=3,
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minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=4,
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minval=1, maxval=8) - 1
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self.driver_toff = config.getint('driver_TOFF', default=4,
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minval=0, maxval=15)
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if self.driver_hstrt + self.driver_hend > 15:
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raise config.error("driver_HEND + HSTRT must be <= 15")
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# SMARTEN
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csc = {'quarter': 1, 'half': 0}
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self.driver_seimin = config.getchoice('driver_SEIMIN', csc, default='half')
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self.driver_seimin = config.getchoice('driver_SEIMIN', csc,
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default='half')
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cds = {'32': 0, '8': 1, '2': 2, '1': 3}
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self.driver_sedn = config.getchoice('driver_SEDN', cds, default='32')
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self.driver_semax = config.getint('driver_SEMAX', default=0, minval=0, maxval=15)
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self.driver_semax = config.getint('driver_SEMAX', default=0,
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minval=0, maxval=15)
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cis = {'1': 0, '2': 1, '4': 2, '8': 3}
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self.driver_seup = config.getchoice('driver_SEUP', cis, default='1')
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self.driver_semin = config.getint('driver_SEMIN', default=0, minval=0, maxval=15)
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self.driver_semin = config.getint('driver_SEMIN', default=0,
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minval=0, maxval=15)
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# SGSCONF
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self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
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self.driver_sgt = config.getint('driver_sgt', default=-64, minval=-64, maxval=63) + 64
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self.driver_sgt = config.getint('driver_sgt', default=-64,
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minval=-64, maxval=63) + 64
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self.driver_cs = current_to_reg(self.current)
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# DRVCONF
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@ -141,9 +155,11 @@ class TMC2660:
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self.driver_diss2g = config.getboolean('driver_DISS2G', default=False)
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ts2g = {'3.2': 0, '1.6': 1, '1.2': 2, '0.8': 3}
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self.driver_ts2g = config.getchoice('driver_TS2G', ts2g, default='0.8')
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self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False
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# since we don't support SPI mode yet, this has to be False
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self.driver_sdoff = False
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vsense = {'low': 0, 'high': 1}
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self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high')
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self.driver_vsense = config.getchoice('driver_VSENSE', vsense,
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default='high')
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self.driver_rdsel = 0 # Microsteps (used by endstop phase)
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# Build and send registers
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@ -189,7 +205,8 @@ class TMC2660:
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self.add_config_cmd(self.reg_smarten)
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# Idle timeout
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self.idle_current_percentage = config.getint('idle_current_percent', default=100, minval=0, maxval=100)
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self.idle_current_percentage = config.getint(
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'idle_current_percent', default=100, minval=0, maxval=100)
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if self.idle_current_percentage < 100:
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self.printer.register_event_handler("idle_timeout:printing",
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self.handle_printing)
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@ -205,17 +222,20 @@ class TMC2660:
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def get_phase(self):
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# Send DRVCTRL to get a response
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reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
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reg_data = [(self.reg_drvctrl >> 16) & 0xff,
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(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
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params = self.spi.spi_transfer(reg_data)
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pr = bytearray(params['response'])
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steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
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steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2])
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& READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
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return steps >> self.driver_mres
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def handle_printing(self, print_time):
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self.set_current(print_time, self.current)
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def handle_ready(self, print_time):
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self.set_current(print_time, float(self.idle_current_percentage) * self.current / 100)
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self.set_current(print_time, (float(self.idle_current_percentage)
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* self.current / 100))
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def set_current(self, print_time, current):
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self.driver_cs = current_to_reg(current)
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@ -226,26 +246,36 @@ class TMC2660:
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clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.spi.spi_send(reg_data, minclock=clock, reqclock=clock)
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver (between %d and %d)" % (CURRENT_MIN, CURRENT_MAX)
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cmd_SET_TMC_CURRENT_help = (
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"Set the current of a TMC2660 driver (between %d and %d)" % (
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CURRENT_MIN, CURRENT_MAX))
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def cmd_SET_TMC_CURRENT(self, params):
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gcode = self.printer.lookup_object('gcode')
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if 'CURRENT' in params:
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self.current = gcode.get_float('CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX)
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self.set_current(self.printer.lookup_object('toolhead').get_last_move_time(), self.current)
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self.current = gcode.get_float(
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'CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX)
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self.set_current(
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self.printer.lookup_object('toolhead').get_last_move_time(),
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self.current)
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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for reg_name , val in zip(["DRVCONF", "DRVCTRL", "CHOPCONF", "SGCSCONF", "SMARTEN"],
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[self.reg_drvconf, self.reg_drvctrl, self.reg_chopconf, self.reg_sgcsconf, self.reg_smarten]):
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for reg_name , val in zip(["DRVCONF", "DRVCTRL", "CHOPCONF",
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"SGCSCONF", "SMARTEN"],
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[self.reg_drvconf, self.reg_drvctrl,
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self.reg_chopconf, self.reg_sgcsconf,
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self.reg_smarten]):
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msg = "%-15s %08x" % (reg_name + " (cached):", val)
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gcode.respond_info(msg)
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# Send one register to get the return data
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reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
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reg_data = [(self.reg_drvctrl >> 16) & 0xff,
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(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
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params = self.spi.spi_transfer(reg_data)
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pr = bytearray(params['response'])
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msg = "%-15s %08x" % ("RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2]))
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msg = "%-15s %08x" % (
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"RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2]))
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gcode.respond_info(msg)
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def load_config_prefix(config):
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