tmc2208: move local set_field/get_field helpers to FieldHelper class
Move these helper functions to the FieldHelper class so that they can be used by other Trinamic drivers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
17a17c5b77
commit
30b6414295
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@ -42,22 +42,44 @@ def decode_signed_int(val, bits):
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return val
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class FieldHelper:
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def __init__(self, all_fields, field_formatters={}):
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def __init__(self, all_fields, field_formatters={}, registers=None):
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self.all_fields = all_fields
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = {}
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name):
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# Return the name of the register containing the given field
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return self.field_to_register[field_name]
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def get_field(self, reg_name, field_name, reg_value):
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers[reg_name]
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mask = self.all_fields[reg_name][field_name]
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return (reg_value & mask) >> ffs(mask)
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def set_field(self, reg_name, field_name, reg_value, field_value):
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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return (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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@ -287,15 +287,16 @@ class TMC2208:
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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# Setup basic register values
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self.ifcnt = None
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self.field_helper = tmc2130.FieldHelper(Fields, FieldFormatters)
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self.regs = collections.OrderedDict()
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self.set_field("pdn_disable", True)
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self.set_field("mstep_reg_select", True)
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self.set_field("multistep_filt", True)
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self.field_helper = tmc2130.FieldHelper(
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Fields, FieldFormatters, self.regs)
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self.field_helper.set_field("pdn_disable", True)
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self.field_helper.set_field("mstep_reg_select", True)
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self.field_helper.set_field("multistep_filt", True)
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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.set_field("MRES", mres)
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self.field_helper.set_field("MRES", mres)
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# Calculate current
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vsense = False
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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@ -308,29 +309,30 @@ class TMC2208:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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self.set_field("vsense", vsense)
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self.set_field("IHOLD", ihold)
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self.set_field("IRUN", irun)
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self.field_helper.set_field("vsense", vsense)
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self.field_helper.set_field("IHOLD", ihold)
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self.field_helper.set_field("IRUN", irun)
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# Setup stealthchop
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sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
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self.set_field("en_spreadCycle", not sc_velocity)
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self.set_field("TPWMTHRS", max(0, min(0xfffff, sc_threshold)))
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self.field_helper.set_field("en_spreadCycle", not sc_velocity)
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self.field_helper.set_field("TPWMTHRS", sc_threshold)
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# Allow other registers to be set from the config
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self.set_config_field(config, "toff", 3)
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self.set_config_field(config, "hstrt", 5)
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self.set_config_field(config, "hend", 0)
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self.set_config_field(config, "TBL", 2, "driver_BLANK_TIME_SELECT")
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self.set_config_field(config, "intpol", True, "interpolate")
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self.set_config_field(config, "IHOLDDELAY", 8)
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self.set_config_field(config, "TPOWERDOWN", 20)
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self.set_config_field(config, "PWM_OFS", 36)
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self.set_config_field(config, "PWM_GRAD", 14)
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self.set_config_field(config, "pwm_freq", 1)
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self.set_config_field(config, "pwm_autoscale", True)
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self.set_config_field(config, "pwm_autograd", True)
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self.set_config_field(config, "PWM_REG", 8)
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self.set_config_field(config, "PWM_LIM", 12)
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set_config_field = self.field_helper.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", 0)
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set_config_field(config, "TBL", 2, "driver_BLANK_TIME_SELECT")
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set_config_field(config, "intpol", True, "interpolate")
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set_config_field(config, "IHOLDDELAY", 8)
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set_config_field(config, "TPOWERDOWN", 20)
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set_config_field(config, "PWM_OFS", 36)
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set_config_field(config, "PWM_GRAD", 14)
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "pwm_autograd", True)
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set_config_field(config, "PWM_REG", 8)
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set_config_field(config, "PWM_LIM", 12)
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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@ -346,7 +348,8 @@ class TMC2208:
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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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return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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threshold = int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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return max(0, min(0xfffff, threshold))
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def build_config(self):
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bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
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self.mcu.add_config_cmd(
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@ -355,27 +358,6 @@ class TMC2208:
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cmd_queue = self.mcu.alloc_command_queue()
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self.tmcuart_send_cmd = self.mcu.lookup_command(
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"tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
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def get_field(self, field_name):
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# Return a field from the local cache of register values
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reg_name = self.field_helper.lookup_register(field_name)
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return self.field_helper.get_field(
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reg_name, field_name, self.regs.get(reg_name, 0))
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def set_field(self, field_name, field_value):
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# Set a field in the local cache of register values
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reg_name = self.field_helper.lookup_register(field_name)
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self.regs[reg_name] = self.field_helper.set_field(
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reg_name, field_name, self.regs.get(reg_name, 0), field_value)
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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reg_name = self.field_helper.lookup_register(field_name)
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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maxval = self.field_helper.get_field(reg_name, field_name, 0xffffffff)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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self.set_field(field_name, val)
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def handle_connect(self):
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val)
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@ -408,11 +390,10 @@ class TMC2208:
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raise self.printer.config_error(
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"Unable to write tmc2208 '%s' register %s" % (self.name, reg_name))
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def get_microsteps(self):
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return 256 >> self.get_field("MRES")
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return 256 >> self.field_helper.get_field("MRES")
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def get_phase(self):
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mscnt = self.get_register("MSCNT")
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mscnt = self.field_helper.get_field("MSCNT", "MSCNT", mscnt)
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return mscnt >> self.get_field("MRES")
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mscnt = self.field_helper.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.field_helper.get_field("MRES")
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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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@ -426,8 +407,7 @@ class TMC2208:
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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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drv_type = self.field_helper.get_field("IOIN@TMC222x", "SEL_A",
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val)
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drv_type = self.field_helper.get_field("SEL_A", val)
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reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
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msg = self.field_helper.pretty_format(reg_name, val)
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logging.info(msg)
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