tmc5160: Use tmc2130.MCU_TMC_SPI for low-level get/set_register access

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/tmc5160.py

@@ -254,7 +254,13 @@ class TMC5160:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
-        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=100000)
+        # Setup mcu communication
+        self.regs = collections.OrderedDict()
+        self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
+                                          self.regs)
+        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
+        self.get_register = self.mcu_tmc.get_register
+        self.set_register = self.mcu_tmc.set_register
         # Allow virtual endstop to be created
         self.diag1_pin = config.get('diag1_pin', None)
         ppins = self.printer.lookup_object("pins")
@@ -274,9 +280,6 @@ class TMC5160:
             "INIT_TMC", "STEPPER", self.name,
             self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
         # Setup basic register values
-        self.regs = collections.OrderedDict()
-        self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
-                                          self.regs)
         irun, ihold, self.sense_resistor = get_config_current(config)
         msteps, en_pwm, thresh = \
             tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
@@ -326,45 +329,15 @@ class TMC5160:
         set_config_field(config, "TPOWERDOWN", 10)
 
         self._init_registers()
-    def decode_hex(self, hex_, reg_name=False):
+    def _init_registers(self, print_time=0.):
-        reg = int( (hex_ >> 32) & 0xff - long(0x80) )
-        if reg not in Registers.values():
-            reg = int( (hex_ >> 32) & 0xff )
-            if reg not in Registers.values():
-                reg_name = "UFO"
-        if not reg_name:
-            for name, adr_ in Registers.items():
-                if adr_ == reg:
-                    reg_name = name
-        val = hex_ & 0xFFFFFFFF
-        logging.debug(self.fields.pretty_format(reg_name, val))
-    def _init_registers(self, min_clock = 0):
         for reg_name, val in self.regs.items():
-            self.set_register(reg_name, val, min_clock)
+            self.set_register(reg_name, val, print_time)
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc5160 virtual endstop only useful as endstop")
         if pin_params['invert'] or pin_params['pullup']:
             raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
         return tmc2130.TMC2130VirtualEndstop(self)
-    def get_register(self, reg_name):
-        reg = Registers[reg_name]
-        self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            return 0
-        params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
-        pr = bytearray(params['response'])
-        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
-    def set_register(self, reg_name, val, min_clock = 0):
-        reg = Registers[reg_name]
-        data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
-            (val >> 8) & 0xff, val & 0xff]
-        self.decode_hex( val, reg_name=reg_name )
-        self.spi.spi_send(data, min_clock)
-    def set_adress(self, val, min_clock=0):
-        data = [(val >> 32) & 0xff, (val >> 24) & 0xff,
-                (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
-        self.spi.spi_send(data, min_clock)
     def get_microsteps(self):
         return 256 >> self.fields.get_field("MRES")
     def get_phase(self):
@@ -393,13 +366,12 @@ class TMC5160:
         if 'HOLDCURRENT' in params or 'CURRENT' in params:
             print_time = self.printer.lookup_object('toolhead')\
                              .get_last_move_time()
-            min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
             irun, ihold = calc_current_config(run_current,
                                             hold_current, self.sense_resistor)
-            self.set_register("CHOPCONF", self.regs["CHOPCONF"], min_clock)
+            self.set_register("CHOPCONF", self.regs["CHOPCONF"], print_time)
             self.fields.set_field("IHOLD", ihold)
             self.fields.set_field("IRUN", irun)
-            self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], min_clock)
+            self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"], print_time)
         else:
             gcode.respond_info(
                 "Run Current: %0.2fA Hold Current: %0.2fA"
@@ -421,8 +393,7 @@ class TMC5160:
     def cmd_INIT_TMC(self, params):
         logging.info("INIT_TMC 5160 %s", self.name)
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+        self._init_registers(print_time)
-        self._init_registers(min_clock)
     cmd_SET_TMC_FIELD_help = "Set a register field of a TMC5160 driver"
     def cmd_SET_TMC_FIELD(self, params):
         gcode = self.printer.lookup_object('gcode')
@@ -436,8 +407,7 @@ class TMC5160:
         value = gcode.get_int('VALUE', params)
         self.fields.set_field(field, value)
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+        self.set_register(reg, self.regs[reg], print_time)
-        self.set_register(reg, self.regs[reg], min_clock)
 
 def load_config_prefix(config):
     return TMC5160(config)