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tmc2660: Fix tmc register reading 

The tmc2660 appears to send responses as soon as the clk starts
toggling.  That means the 20 bit response is at the top of the 24bit
sent message.  Also, this implies that RDSEL must already have the
correct value in the prior message.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-26 10:19:30 -05:00
parent e24709b112
commit af8bfee210
1 changed files with 35 additions and 30 deletions
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65
klippy/extras/tmc2660.py
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@ -58,40 +58,40 @@ Fields["DRVCONF"] = {
} }
Fields["READRSP@RDSEL0"] = { Fields["READRSP@RDSEL0"] = {
"SG": 0x01, "SG": 0x01 << 4,
"ot": 0x01 << 1, "ot": 0x01 << 5,
"otpw": 0x01 << 2, "otpw": 0x01 << 6,
"s2ga": 0x01 << 3, "s2ga": 0x01 << 7,
"s2gb": 0x01 << 4, "s2gb": 0x01 << 8,
"ola": 0x01 << 5, "ola": 0x01 << 9,
"olb": 0x01 << 6, "olb": 0x01 << 10,
"stst": 0x01 << 7, "stst": 0x01 << 11,
"MSTEP": 0x3ff << 10 "MSTEP": 0x3ff << 14
} }
Fields["READRSP@RDSEL1"] = { Fields["READRSP@RDSEL1"] = {
"SG": 0x01, "SG": 0x01 << 4,
"ot": 0x01 << 1, "ot": 0x01 << 5,
"otpw": 0x01 << 2, "otpw": 0x01 << 6,
"s2ga": 0x01 << 3, "s2ga": 0x01 << 7,
"s2gb": 0x01 << 4, "s2gb": 0x01 << 8,
"ola": 0x01 << 5, "ola": 0x01 << 9,
"olb": 0x01 << 6, "olb": 0x01 << 10,
"stst": 0x01 << 7, "stst": 0x01 << 11,
"SG@RDSEL1": 0x3ff << 10 "SG@RDSEL1": 0x3ff << 14
} }
Fields["READRSP@RDSEL2"] = { Fields["READRSP@RDSEL2"] = {
"SG": 0x01, "SG": 0x01 << 4,
"ot": 0x01 << 1, "ot": 0x01 << 5,
"otpw": 0x01 << 2, "otpw": 0x01 << 6,
"s2ga": 0x01 << 3, "s2ga": 0x01 << 7,
"s2gb": 0x01 << 4, "s2gb": 0x01 << 8,
"ola": 0x01 << 5, "ola": 0x01 << 9,
"olb": 0x01 << 6, "olb": 0x01 << 10,
"stst": 0x01 << 7, "stst": 0x01 << 11,
"SG@RDSEL2": 0x1f << 15, "SE": 0x1f << 14,
"SE": 0x1f << 10 "SG@RDSEL2": 0x1f << 19
} }
SignedFields = ["SGT"] SignedFields = ["SGT"]
@ -192,12 +192,17 @@ class MCU_TMC2660_SPI:
def get_fields(self): def get_fields(self):
return self.fields return self.fields
def get_register(self, reg_name): def get_register(self, reg_name):
new_rdsel = ReadRegisters.index(reg_name)
reg = self.name_to_reg["DRVCONF"] reg = self.name_to_reg["DRVCONF"]
val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
if self.printer.get_start_args().get('debugoutput') is not None: if self.printer.get_start_args().get('debugoutput') is not None:
return 0 return 0
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex: with self.mutex:
old_rdsel = self.fields.get_field("RDSEL")
val = self.fields.set_field("RDSEL", new_rdsel)
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
if new_rdsel != old_rdsel:
# Must set RDSEL value first
self.spi.spi_send(msg)
params = self.spi.spi_transfer(msg) params = self.spi.spi_transfer(msg)
pr = bytearray(params['response']) pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2] return (pr[0] << 16) | (pr[1] << 8) | pr[2]