tmc2130: Move low-level get/set_register functions to new MCU_TMC_SPI class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
9ce98fd769
commit
3becc6cf54
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@ -212,6 +212,35 @@ def get_config_stealthchop(config, tmc_freq):
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return mres, True, max(0, min(0xfffff, threshold))
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######################################################################
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# TMC2130 SPI
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######################################################################
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# Helper code for working with TMC devices via SPI
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class MCU_TMC_SPI:
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def __init__(self, config, name_to_reg, fields):
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self.printer = config.get_printer()
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
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self.name_to_reg = name_to_reg
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self.fields = fields
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def get_fields(self):
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return self.fields
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def get_register(self, reg_name):
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reg = self.name_to_reg[reg_name]
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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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return 0
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params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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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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def set_register(self, reg_name, val, print_time=0.):
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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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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(val >> 8) & 0xff, val & 0xff]
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self.spi.spi_send(data, min_clock)
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######################################################################
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# TMC2130 printer object
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######################################################################
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@ -220,7 +249,13 @@ class TMC2130:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
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# Setup mcu communication
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self.regs = collections.OrderedDict()
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self.fields = FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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# Allow virtual endstop to be created
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self.diag1_pin = config.get('diag1_pin', None)
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ppins = self.printer.lookup_object("pins")
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@ -240,9 +275,6 @@ class TMC2130:
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"INIT_TMC", "STEPPER", self.name,
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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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self.regs = collections.OrderedDict()
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self.fields = FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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vsense, irun, ihold, self.sense_resistor = get_config_current(config)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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@ -266,29 +298,16 @@ class TMC2130:
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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self._init_registers()
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def _init_registers(self, min_clock = 0):
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def _init_registers(self, print_time=0.):
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# Send registers
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val, min_clock)
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self.set_register(reg_name, val, print_time)
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def setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise pins.error("tmc2130 virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
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return TMC2130VirtualEndstop(self)
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def get_register(self, 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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if self.printer.get_start_args().get('debugoutput') is not None:
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return 0
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params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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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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def set_register(self, reg_name, val, min_clock = 0):
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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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(val >> 8) & 0xff, val & 0xff]
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self.spi.spi_send(data, min_clock)
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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@ -317,15 +336,14 @@ class TMC2130:
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if 'HOLDCURRENT' in params or 'CURRENT' in params:
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print_time = self.printer.lookup_object('toolhead')\
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.get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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vsense_calc, irun, ihold = calc_current_config(run_current,
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hold_current, self.sense_resistor)
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if (vsense_calc != vsense):
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self.fields.set_field("vsense", vsense_calc)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
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self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
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self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], print_time)
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else:
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gcode.respond_info(
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"Run Current: %0.2fA Hold Current: %0.2fA"
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@ -347,8 +365,7 @@ class TMC2130:
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2130 %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self._init_registers(min_clock)
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self._init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 driver"
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def cmd_SET_TMC_FIELD(self, params):
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gcode = self.printer.lookup_object('gcode')
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@ -362,8 +379,7 @@ class TMC2130:
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value = gcode.get_int('VALUE', params)
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self.fields.set_field(field, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.set_register(reg, self.regs[reg], min_clock)
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self.set_register(reg, self.regs[reg], print_time)
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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@ -373,8 +389,6 @@ class TMC2130VirtualEndstop:
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raise pins.error("tmc2130 virtual endstop requires diag1_pin")
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ppins = tmc2130.printer.lookup_object('pins')
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self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
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if self.mcu_endstop.get_mcu() is not tmc2130.spi.get_mcu():
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raise pins.error("tmc2130 virtual endstop must be on same mcu")
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self.en_pwm = tmc2130.fields.get_field("en_pwm_mode")
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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