tmc5160: Rename registers to Registers and fields to Fields
Minor change to the code so that it is more similar to the other tmc drivers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
5de9f74525
commit
2b0251ee99
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@ -10,68 +10,68 @@ vsense = 0.325
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GLOBAL_SCALER = 256
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GLOBAL_SCALER = 256
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TMC_FREQUENCY=12000000.
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TMC_FREQUENCY=12000000.
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registers = {
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Registers = {
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"GCONF": 0x00 ,
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"GCONF": 0x00,
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"GSTAT": 0x01 ,
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"GSTAT": 0x01,
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"IFCNT": 0x02 ,
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"IFCNT": 0x02,
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"SLAVECONF": 0x03 ,
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"SLAVECONF": 0x03,
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"IOIN": 0x04 ,
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"IOIN": 0x04,
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"X_COMPARE": 0x05 ,
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"X_COMPARE": 0x05,
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"OTP_READ": 0x07 ,
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"OTP_READ": 0x07,
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"FACTORY_CONF": 0x08 ,
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"FACTORY_CONF": 0x08,
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"SHORT_CONF": 0x09 ,
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"SHORT_CONF": 0x09,
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"DRV_CONF": 0x0A ,
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"DRV_CONF": 0x0A,
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"GLOBAL_SCALER": 0x0B ,
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"GLOBAL_SCALER": 0x0B,
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"OFFSET_READ": 0x0C ,
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"OFFSET_READ": 0x0C,
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"IHOLD_IRUN": 0x10 ,
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"IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11 ,
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"TPOWERDOWN": 0x11,
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"TSTEP": 0x12 ,
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"TSTEP": 0x12,
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"TPWMTHRS": 0x13 ,
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"TPWMTHRS": 0x13,
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"TCOOLTHRS": 0x14 ,
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"TCOOLTHRS": 0x14,
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"THIGH": 0x15 ,
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"THIGH": 0x15,
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"RAMPMODE": 0x20 ,
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"RAMPMODE": 0x20,
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"XACTUAL": 0x21 ,
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"XACTUAL": 0x21,
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"VACTUAL": 0x22 ,
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"VACTUAL": 0x22,
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"VSTART": 0x23 ,
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"VSTART": 0x23,
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"A1": 0x24 ,
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"A1": 0x24,
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"V1": 0x25 ,
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"V1": 0x25,
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"AMAX": 0x26 ,
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"AMAX": 0x26,
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"VMAX": 0x27 ,
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"VMAX": 0x27,
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"DMAX": 0x28 ,
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"DMAX": 0x28,
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"D1": 0x2A ,
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"D1": 0x2A,
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"VSTOP": 0x2B ,
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"VSTOP": 0x2B,
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"TZEROWAIT": 0x2C ,
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"TZEROWAIT": 0x2C,
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"XTARGET": 0x2D ,
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"XTARGET": 0x2D,
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"VDCMIN": 0x33 ,
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"VDCMIN": 0x33,
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"SW_MODE": 0x34 ,
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"SW_MODE": 0x34,
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"RAMP_STAT": 0x35 ,
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"RAMP_STAT": 0x35,
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"XLATCH": 0x36 ,
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"XLATCH": 0x36,
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"ENCMODE": 0x38 ,
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"ENCMODE": 0x38,
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"X_ENC": 0x39 ,
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"X_ENC": 0x39,
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"ENC_CONST": 0x3A ,
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"ENC_CONST": 0x3A,
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"ENC_STATUS": 0x3B ,
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"ENC_STATUS": 0x3B,
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"ENC_LATCH": 0x3C ,
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"ENC_LATCH": 0x3C,
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"ENC_DEVIATION": 0x3D ,
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"ENC_DEVIATION": 0x3D,
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"MSLUT0": 0x60 ,
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"MSLUT0": 0x60,
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"MSLUT1": 0x61 ,
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"MSLUT1": 0x61,
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"MSLUT2": 0x62 ,
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"MSLUT2": 0x62,
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"MSLUT3": 0x63 ,
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"MSLUT3": 0x63,
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"MSLUT4": 0x64 ,
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"MSLUT4": 0x64,
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"MSLUT5": 0x65 ,
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"MSLUT5": 0x65,
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"MSLUT6": 0x66 ,
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"MSLUT6": 0x66,
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"MSLUT7": 0x67 ,
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"MSLUT7": 0x67,
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"MSLUTSEL": 0x68 ,
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"MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69 ,
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"MSLUTSTART": 0x69,
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"MSCNT": 0x6A ,
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"MSCNT": 0x6A,
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"MSCURACT": 0x6B ,
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"MSCURACT": 0x6B,
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"CHOPCONF": 0x6C ,
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"CHOPCONF": 0x6C,
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"COOLCONF": 0x6D ,
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"COOLCONF": 0x6D,
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"DCCTRL": 0x6E ,
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"DCCTRL": 0x6E,
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"DRV_STATUS": 0x6F ,
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"DRV_STATUS": 0x6F,
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"PWMCONF": 0x70 ,
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"PWMCONF": 0x70,
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"PWM_SCALE": 0x71 ,
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"PWM_SCALE": 0x71,
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"PWM_AUTO": 0x72 ,
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"PWM_AUTO": 0x72,
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"LOST_STEPS": 0x73
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"LOST_STEPS": 0x73,
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}
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}
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ReadRegisters = [
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ReadRegisters = [
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@ -80,8 +80,8 @@ ReadRegisters = [
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"PWM_AUTO", "TSTEP"
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"PWM_AUTO", "TSTEP"
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]
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]
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fields = {}
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Fields = {}
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fields["COOLCONF"] = {
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Fields["COOLCONF"] = {
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"semin": 0x0F << 0,
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"semin": 0x0F << 0,
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"seup": 0x03 << 5,
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"seup": 0x03 << 5,
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"semax": 0x0F << 8,
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"semax": 0x0F << 8,
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@ -90,7 +90,7 @@ fields["COOLCONF"] = {
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"sgt": 0x7F << 16,
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"sgt": 0x7F << 16,
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"sfilt": 0x01 << 24
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"sfilt": 0x01 << 24
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}
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}
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fields["CHOPCONF"] = {
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Fields["CHOPCONF"] = {
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"toff": 0x0F << 0,
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"toff": 0x0F << 0,
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"hstrt": 0x07 << 4,
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"hstrt": 0x07 << 4,
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"hend": 0x0F << 7,
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"hend": 0x0F << 7,
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@ -107,7 +107,7 @@ fields["CHOPCONF"] = {
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"diss2g": 0x01 << 30,
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"diss2g": 0x01 << 30,
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"diss2vs": 0x01 << 31
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"diss2vs": 0x01 << 31
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}
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}
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fields["DRV_STATUS"] = {
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3FF << 0,
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"SG_RESULT": 0x3FF << 0,
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"s2vsa": 0x01 << 12,
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"s2vsa": 0x01 << 12,
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"s2vsb": 0x01 << 13,
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"s2vsb": 0x01 << 13,
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@ -123,10 +123,10 @@ fields["DRV_STATUS"] = {
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"olb": 0x01 << 30,
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"olb": 0x01 << 30,
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"stst": 0x01 << 31
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"stst": 0x01 << 31
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}
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}
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fields["FACTORY_CONF"] = {
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Fields["FACTORY_CONF"] = {
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"FACTORY_CONF": 0x1F << 0
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"FACTORY_CONF": 0x1F << 0
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}
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}
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fields["GCONF"] = {
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Fields["GCONF"] = {
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"recalibrate": 0x01 << 0,
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"recalibrate": 0x01 << 0,
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"faststandstill": 0x01 << 1,
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"faststandstill": 0x01 << 1,
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"en_pwm_mode": 0x01 << 2,
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"en_pwm_mode": 0x01 << 2,
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@ -146,17 +146,17 @@ fields["GCONF"] = {
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"direct_mode": 0x01 << 16,
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"direct_mode": 0x01 << 16,
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"test_mode": 0x01 << 17
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"test_mode": 0x01 << 17
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}
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}
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fields["GSTAT"] = {
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Fields["GSTAT"] = {
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"reset": 0x01 << 0,
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"reset": 0x01 << 0,
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"drv_err": 0x01 << 1,
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"drv_err": 0x01 << 1,
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"uv_cp": 0x01 << 2
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"uv_cp": 0x01 << 2
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}
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}
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fields["IHOLD_IRUN"] = {
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1F << 0,
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"IHOLD": 0x1F << 0,
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"IRUN": 0x1F << 8,
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"IRUN": 0x1F << 8,
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"IHOLDDELAY": 0x0F << 16
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"IHOLDDELAY": 0x0F << 16
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}
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}
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fields["IOIN"] = {
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Fields["IOIN"] = {
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"REFL_STEP": 0x01 << 0,
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"REFL_STEP": 0x01 << 0,
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"REFR_DIR": 0x01 << 1,
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"REFR_DIR": 0x01 << 1,
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"ENCB_DCEN_CFG4": 0x01 << 2,
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"ENCB_DCEN_CFG4": 0x01 << 2,
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@ -167,27 +167,27 @@ fields["IOIN"] = {
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"SWCOMP_IN": 0x01 << 7,
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"SWCOMP_IN": 0x01 << 7,
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"VERSION": 0xFF << 24
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"VERSION": 0xFF << 24
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}
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}
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fields["LOST_STEPS"] = {
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Fields["LOST_STEPS"] = {
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"LOST_STEPS": 0xfffff << 0
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"LOST_STEPS": 0xfffff << 0
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}
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}
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fields["MSCNT"] = {
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Fields["MSCNT"] = {
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"MSCNT": 0x3ff << 0
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"MSCNT": 0x3ff << 0
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}
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}
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fields["MSCURACT"] = {
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Fields["MSCURACT"] = {
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"CUR_A": 0x1ff << 0,
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"CUR_A": 0x1ff << 0,
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"CUR_B": 0x1ff << 16
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"CUR_B": 0x1ff << 16
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}
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}
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fields["OTP_READ"] = {
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Fields["OTP_READ"] = {
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"OTP_FCLKTRIM": 0x1f << 0,
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"OTP_FCLKTRIM": 0x1f << 0,
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"otp_S2_LEVEL": 0x01 << 5,
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"otp_S2_LEVEL": 0x01 << 5,
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"otp_BBM": 0x01 << 6,
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"otp_BBM": 0x01 << 6,
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"otp_TBL": 0x01 << 7
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"otp_TBL": 0x01 << 7
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}
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}
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fields["PWM_AUTO"] = {
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Fields["PWM_AUTO"] = {
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"PWM_OFS_AUTO": 0xff << 0,
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"PWM_OFS_AUTO": 0xff << 0,
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"PWM_GRAD_AUTO": 0xff << 16
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"PWM_GRAD_AUTO": 0xff << 16
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}
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}
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fields["PWMCONF"] = {
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Fields["PWMCONF"] = {
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"PWM_OFS": 0xFF << 0,
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"PWM_OFS": 0xFF << 0,
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"PWM_GRAD": 0xFF << 8,
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"PWM_GRAD": 0xFF << 8,
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"pwm_freq": 0x03 << 16,
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"pwm_freq": 0x03 << 16,
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@ -197,17 +197,17 @@ fields["PWMCONF"] = {
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"PWM_REG": 0x0F << 24,
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"PWM_REG": 0x0F << 24,
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"PWM_LIM": 0x0F << 28
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"PWM_LIM": 0x0F << 28
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}
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}
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fields["PWM_SCALE"] = {
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Fields["PWM_SCALE"] = {
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"PWM_SCALE_SUM": 0xff << 0,
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"PWM_SCALE_SUM": 0xff << 0,
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"PWM_SCALE_AUTO": 0x1ff << 16
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"PWM_SCALE_AUTO": 0x1ff << 16
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}
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}
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fields["TPOWERDOWN"] = {
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Fields["TPOWERDOWN"] = {
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"TPOWERDOWN": 0xff << 0
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"TPOWERDOWN": 0xff << 0
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}
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}
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fields["TPWMTHRS"] = {
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Fields["TPWMTHRS"] = {
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"TPWMTHRS": 0xfffff << 0
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"TPWMTHRS": 0xfffff << 0
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}
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}
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fields["TSTEP"] = {
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Fields["TSTEP"] = {
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"TSTEP": 0xfffff << 0
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"TSTEP": 0xfffff << 0
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}
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}
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@ -275,7 +275,7 @@ class TMC5160:
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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# Setup basic register values
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self.regs = collections.OrderedDict()
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self.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(fields, SignedFields, FieldFormatters,
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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self.regs)
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irun, ihold, self.sense_resistor = get_config_current(config)
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irun, ihold, self.sense_resistor = get_config_current(config)
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msteps, en_pwm, thresh = \
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msteps, en_pwm, thresh = \
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@ -328,12 +328,12 @@ class TMC5160:
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self._init_registers()
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self._init_registers()
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def decode_hex(self, hex_, reg_name=False):
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def decode_hex(self, hex_, reg_name=False):
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reg = int( (hex_ >> 32) & 0xff - long(0x80) )
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reg = int( (hex_ >> 32) & 0xff - long(0x80) )
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if reg not in registers.values():
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if reg not in Registers.values():
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reg = int( (hex_ >> 32) & 0xff )
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reg = int( (hex_ >> 32) & 0xff )
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if reg not in registers.values():
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if reg not in Registers.values():
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reg_name = "UFO"
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reg_name = "UFO"
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if not reg_name:
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if not reg_name:
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for name, adr_ in registers.items():
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for name, adr_ in Registers.items():
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if adr_ == reg:
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if adr_ == reg:
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reg_name = name
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reg_name = name
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val = hex_ & 0xFFFFFFFF
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val = hex_ & 0xFFFFFFFF
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@ -348,7 +348,7 @@ class TMC5160:
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raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
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raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
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return tmc2130.TMC2130VirtualEndstop(self)
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return tmc2130.TMC2130VirtualEndstop(self)
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def get_register(self, reg_name):
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def get_register(self, reg_name):
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reg = registers[reg_name]
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reg = Registers[reg_name]
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self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
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self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
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if self.printer.get_start_args().get('debugoutput') is not None:
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if self.printer.get_start_args().get('debugoutput') is not None:
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return 0
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return 0
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@ -356,7 +356,7 @@ class TMC5160:
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pr = bytearray(params['response'])
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pr = bytearray(params['response'])
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return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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def set_register(self, reg_name, val, min_clock = 0):
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def set_register(self, reg_name, val, min_clock = 0):
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reg = registers[reg_name]
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reg = Registers[reg_name]
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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(val >> 8) & 0xff, val & 0xff]
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self.decode_hex( val, reg_name=reg_name )
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self.decode_hex( val, reg_name=reg_name )
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