tmc2208: Use field definitions during driver init
Reduce the amount of bit manipulations by using the FieldHelper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
51f14b9c8c
commit
83001959f1
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@ -45,13 +45,18 @@ class FieldHelper:
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def __init__(self, all_fields, field_formatters={}):
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self.all_fields = all_fields
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self.field_formatters = field_formatters
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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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# Returns value of the register field
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mask = self.all_fields.get(reg_name, {})[field_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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# Returns register value with field bits filled with supplied value
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mask = self.all_fields.get(reg_name, {})[field_name]
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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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def pretty_format(self, reg_name, value):
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# Provide a string description of a register
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@ -7,9 +7,6 @@ import math, logging, collections
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import tmc2130
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TMC_FREQUENCY=12000000.
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GCONF_PDN_DISABLE = 1<<6
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GCONF_MSTEP_REG_SELECT = 1<<7
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GCONF_MULTISTEP_FILT = 1<<8
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
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@ -296,10 +293,10 @@ class TMC2208:
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sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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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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self.mres = config.getchoice('microsteps', steps)
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mres = config.getchoice('microsteps', steps)
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interpolate = config.getboolean('interpolate', True)
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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)
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sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
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iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
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tpowerdown = config.getint('driver_TPOWERDOWN', 20, minval=0, maxval=255)
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blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 2,
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@ -324,20 +321,30 @@ class TMC2208:
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# Configure registers
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self.ifcnt = None
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self.init_regs = collections.OrderedDict()
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self.init_regs['GCONF'] = (
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((sc_velocity == 0.) << 2) | GCONF_PDN_DISABLE
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| GCONF_MSTEP_REG_SELECT | GCONF_MULTISTEP_FILT)
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self.init_regs['CHOPCONF'] = (
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toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
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self.init_regs['IHOLD_IRUN'] = ihold | (irun << 8) | (iholddelay << 16)
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self.init_regs['TPOWERDOWN'] = tpowerdown
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self.init_regs['TPWMTHRS'] = max(0, min(0xfffff, sc_threshold))
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self.init_regs['PWMCONF'] = (
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pwm_ofs | (pwm_grad << 8) | (pwm_freq << 16)
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| (pwm_autoscale << 18) | (pwm_autograd << 19)
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| (pwm_reg << 24) | (pwm_lim << 28))
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self.regs = collections.OrderedDict()
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self.set_field("en_spreadCycle", not sc_velocity)
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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.set_field("toff", toff)
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self.set_field("hstrt", hstrt)
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self.set_field("hend", hend)
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self.set_field("TBL", blank_time_select)
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self.set_field("vsense", vsense)
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self.set_field("MRES", mres)
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self.set_field("intpol", interpolate)
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self.set_field("IHOLD", ihold)
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self.set_field("IRUN", irun)
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self.set_field("IHOLDDELAY", iholddelay)
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self.set_field("TPOWERDOWN", tpowerdown)
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self.set_field("TPWMTHRS", max(0, min(0xfffff, sc_threshold)))
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self.set_field("PWM_OFS", pwm_ofs)
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self.set_field("PWM_GRAD", pwm_grad)
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self.set_field("pwm_freq", pwm_freq)
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self.set_field("pwm_autoscale", pwm_autoscale)
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self.set_field("pwm_autograd", pwm_autograd)
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self.set_field("PWM_REG", pwm_reg)
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self.set_field("PWM_LIM", pwm_lim)
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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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@ -346,13 +353,13 @@ class TMC2208:
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
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- 1. + .5)
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return max(0, min(31, cs))
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def velocity_to_clock(self, config, velocity):
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def velocity_to_clock(self, config, velocity, mres):
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if not velocity:
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return 0
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stepper_name = config.get_name().split()[1]
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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 << self.mres)
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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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def build_config(self):
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bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
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@ -362,8 +369,18 @@ 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 handle_connect(self):
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for reg_name, val in self.init_regs.items():
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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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def get_register(self, reg_name):
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reg = Registers[reg_name]
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@ -394,9 +411,11 @@ 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.mres
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return 256 >> self.get_field("MRES")
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def get_phase(self):
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return (self.get_register("MSCNT") & 0x3ff) >> self.mres
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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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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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