tmc5160: Use tmc2130.MCU_TMC_SPI for low-level get/set_register access
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
3becc6cf54
commit
a122d113e8
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@ -254,7 +254,13 @@ class TMC5160:
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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=100000)
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# Setup mcu communication
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self.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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self.mcu_tmc = tmc2130.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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@ -274,9 +280,6 @@ class TMC5160:
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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 = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
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self.regs)
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irun, ihold, self.sense_resistor = get_config_current(config)
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msteps, en_pwm, thresh = \
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tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
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@ -326,45 +329,15 @@ class TMC5160:
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set_config_field(config, "TPOWERDOWN", 10)
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self._init_registers()
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def decode_hex(self, hex_, reg_name=False):
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reg = int( (hex_ >> 32) & 0xff - long(0x80) )
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if reg not in Registers.values():
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reg = int( (hex_ >> 32) & 0xff )
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if reg not in Registers.values():
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reg_name = "UFO"
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if not reg_name:
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for name, adr_ in Registers.items():
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if adr_ == reg:
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reg_name = name
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val = hex_ & 0xFFFFFFFF
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logging.debug(self.fields.pretty_format(reg_name, val))
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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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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("tmc5160 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 tmc5160 virtual endstop")
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return tmc2130.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.decode_hex( val, reg_name=reg_name )
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self.spi.spi_send(data, min_clock)
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def set_adress(self, val, min_clock=0):
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data = [(val >> 32) & 0xff, (val >> 24) & 0xff,
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(val >> 16) & 0xff, (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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@ -393,13 +366,12 @@ class TMC5160:
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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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irun, ihold = calc_current_config(run_current,
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hold_current, self.sense_resistor)
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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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@ -421,8 +393,7 @@ class TMC5160:
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 5160 %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 TMC5160 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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@ -436,8 +407,7 @@ class TMC5160:
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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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def load_config_prefix(config):
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return TMC5160(config)
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