tmc2660: Move get/set_register functions to new MCU_TMC2660_SPI class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
a122d113e8
commit
ab710cd4de
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@ -132,11 +132,51 @@ FieldFormatters = {
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"STST": (lambda v: "1(Standstill detected!)" if v else ""),
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}
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######################################################################
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# TMC2660 SPI
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######################################################################
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# Helper code for working with TMC2660 devices via SPI
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class MCU_TMC2660_SPI:
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def __init__(self, config, name_to_reg, fields):
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self.printer = config.get_printer()
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self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
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self.name_to_reg = name_to_reg
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self.fields = fields
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def get_fields(self):
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return self.fields
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def get_register(self, reg_name):
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reg = self.name_to_reg["DRVCONF"]
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val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
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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([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff])
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pr = bytearray(params['response'])
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return (pr[0] << 16) | (pr[1] << 8) | pr[2]
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def set_register(self, reg_name, val, print_time=0.):
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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reg = self.name_to_reg[reg_name]
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self.spi.spi_send([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff], min_clock)
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######################################################################
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# TMC2660 printer object
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######################################################################
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class TMC2660:
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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, 0, default_speed=4000000)
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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 = MCU_TMC2660_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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# Add SET_CURRENT and DUMP_TMC commands
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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@ -152,9 +192,6 @@ class TMC2660:
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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 driver registers
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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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set_config_field = self.fields.set_config_field
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# DRVCTRL
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@ -213,25 +250,10 @@ class TMC2660:
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self.printer.register_event_handler("idle_timeout:ready",
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self.handle_ready)
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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 in Registers:
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self.set_register(reg_name, self.regs[reg_name])
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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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self.spi.spi_send([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff], min_clock)
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def get_register(self, reg_name):
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reg = Registers["DRVCONF"]
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val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
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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([((val >> 16) | reg) & 0xff,
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(val >> 8) & 0xff, val & 0xff])
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pr = bytearray(params['response'])
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return (pr[0] << 16) | (pr[1] << 8) | pr[2]
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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@ -251,12 +273,11 @@ class TMC2660:
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(self.driver_cs,
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self.driver_vsense) = get_config_current(current, self.sense_resistor)
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self.fields.set_field("CS", self.driver_cs)
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clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock)
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self.set_register("SGCSCONF", self.regs["SGCSCONF"], print_time)
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# Only update VSENSE if we need to
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if self.driver_vsense != self.fields.get_field("VSENSE"):
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self.fields.set_field("VSENSE", self.driver_vsense)
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self.set_register("DRVCONF", self.regs["DRVCONF"], min_clock=clock)
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self.set_register("DRVCONF", self.regs["DRVCONF"], print_time)
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cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
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def cmd_SET_TMC_CURRENT(self, params):
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@ -286,9 +307,8 @@ class TMC2660:
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2660 %s", self.name)
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pt = self.printer.lookup_object('toolhead').get_last_move_time()
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min_clock = self.spi.get_mcu().print_time_to_clock(pt)
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self._init_registers(min_clock)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver"
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def cmd_SET_TMC_FIELD(self, params):
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@ -302,9 +322,8 @@ class TMC2660:
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raise gcode.error("Unknown field name '%s'" % field)
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value = gcode.get_int('VALUE', params)
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self.fields.set_field(field, value)
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pt = self.printer.lookup_object('toolhead').get_last_move_time()
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clock = self.spi.get_mcu().print_time_to_clock(pt)
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self.set_register(reg, self.regs[reg], min_clock=clock)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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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 TMC2660(config)
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