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tmc2130: Allow the PWMCONF register to be configured 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-24 11:03:29 -04:00
parent 1e6fa5722a
commit 5ae22a5e51
2 changed files with 12 additions and 0 deletions
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4
config/example-extras.cfg
View File

@ -461,6 +461,10 @@
#driver_TOFF: 4
#driver_HEND: 7
#driver_HSTRT: 0
#driver_PWM_AUTOSCALE: True
#driver_PWM_FREQ: 1
#driver_PWM_GRAD: 4
#driver_PWM_AMPL: 128
#driver_SGT: 0
# Set the given register during the configuration of the TMC2130
# chip. This may be used to set custom motor parameters. The

8
klippy/extras/tmc2130.py
View File

@ -11,6 +11,7 @@ GCONF_EN_PWM_MODE=1<<2
GCONF_DIAG1_STALL=1<<8
REG_TCOOLTHRS=0x14
REG_COOLCONF=0x6d
REG_PWMCONF=0x70
class TMC2130:
def __init__(self, config):
@ -45,6 +46,10 @@ class TMC2130:
hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
pwm_scale = config.getboolean('driver_PWM_AUTOSCALE', True)
pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255)
pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins.register_chip("_".join(config.get_name().split()[:2]), self)
@ -73,6 +78,9 @@ class TMC2130:
self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
# configure COOLCONF
self.add_config_cmd(REG_COOLCONF, sgt << 16)
# configure PWMCONF
self.add_config_cmd(REG_PWMCONF, pwm_ampl | (pwm_grad << 8)
| (pwm_freq << 16) | (pwm_scale << 18))
def add_config_cmd(self, addr, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)