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tmc2660: Define get_register() method 

Use a get_register() method instead of get_response().  This makes the
tmc2660 class more similar to other TMC drivers.  It also enables
DUMP_TMC to dump all the readable content.

Also, use the tmc2130.get_config_microsteps() helper.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-05 14:34:21 -04:00 committed by KevinOConnor
parent 2b0251ee99
commit 9ce98fd769
1 changed files with 14 additions and 13 deletions
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27
klippy/extras/tmc2660.py
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@ -24,6 +24,8 @@ Registers = {
"CHOPCONF": 0x8, "DRVCTRL": 0x0
}
ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
Fields = {}
Fields["DRVCTRL"] = {
@ -156,10 +158,8 @@ class TMC2660:
set_config_field = self.fields.set_config_field
# DRVCTRL
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
self.driver_mres = config.getchoice('microsteps', steps)
self.fields.set_field("MRES", self.driver_mres)
mres = tmc2130.get_config_microsteps(config)
self.fields.set_field("MRES", mres)
set_config_field(config, "DEDGE", 0)
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
@ -222,13 +222,13 @@ class TMC2660:
self.spi.spi_send([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff], min_clock)
def get_response(self):
reg = Registers["DRVCTRL"]
val = self.regs["DRVCTRL"]
def get_register(self, reg_name):
reg = Registers["DRVCONF"]
val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
(val >> 8) & 0xff, val & 0xff])
(val >> 8) & 0xff, val & 0xff])
pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
@ -236,8 +236,9 @@ class TMC2660:
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
mscnt = self.fields.get_field("MSTEP", self.get_response())
return mscnt >> self.driver_mres
reg = self.get_register("READRSP@RDSEL0")
mscnt = self.fields.get_field("MSTEP", reg)
return mscnt >> self.fields.get_field("MRES")
def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround
@ -278,9 +279,9 @@ class TMC2660:
# Send one register to get the return data
gcode.respond_info("========== Queried registers ==========")
return_format = "READRSP@RDSEL" + str(self.fields.get_field("RDSEL"))
msg = self.fields.pretty_format(return_format, self.get_response())
gcode.respond_info(msg)
for reg_name in ReadRegisters:
val = self.get_register(reg_name)
gcode.respond_info(self.fields.pretty_format(reg_name, val))
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):