tmc2130: Minor code cleanup
Rework the code to use set_register() with the string name of the desired register to set. Add a get_register() method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
e5d95fdd00
commit
afd5d55c00
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@ -6,19 +6,23 @@
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import math, logging
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TMC_FREQUENCY=13200000.
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REG_GCONF=0x00
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GCONF_EN_PWM_MODE=1<<2
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GCONF_DIAG1_STALL=1<<8
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REG_TCOOLTHRS=0x14
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REG_COOLCONF=0x6d
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REG_PWMCONF=0x70
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ReadRegisters = {
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0x00: "GCONF", 0x01: "GSTAT", 0x04: "IOIN", 0x12: "TSTEP", 0x2d: "XDIRECT",
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0x6a: "MSCNT", 0x6b: "MSCURACT", 0x6c: "CHOPCONF", 0x6f: "DRV_STATUS",
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0x71: "PWM_SCALE", 0x73: "LOST_STEPS"
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
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"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
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"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
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"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
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"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
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"CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
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]
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class TMC2130:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -30,15 +34,20 @@ class TMC2130:
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self.mcu = cs_pin_params['chip']
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pin = cs_pin_params['pin']
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self.oid = self.mcu.create_oid()
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self.mcu.add_config_cmd(
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"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
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self.oid, 0, cs_pin_params['pin'], 3, 4000000))
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self.spi_send_cmd = self.spi_transfer_cmd = None
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self.mcu.add_config_object(self)
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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.register_chip("tmc2130_" + self.name, self)
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# Add DUMP_TMC command
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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# Setup driver registers
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self.mcu.add_config_cmd(
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"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
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self.oid, 0, cs_pin_params['pin'], 3, 4000000))
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# Get config for initial driver settings
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run_current = config.getfloat('run_current', above=0., maxval=2.)
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hold_current = config.getfloat('hold_current', run_current,
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above=0., maxval=2.)
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@ -61,11 +70,6 @@ class TMC2130:
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pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
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pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255)
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pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
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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.register_chip("tmc2130_" + self.name, self)
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self.spi_send_cmd = self.spi_transfer_cmd = None
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self.mcu.add_config_object(self)
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# calculate current
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vsense = False
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irun = self.current_bits(run_current, sense_resistor, vsense)
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@ -74,27 +78,19 @@ class TMC2130:
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vsense = True
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# configure GCONF
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# Configure registers
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self.reg_GCONF = (sc_velocity > 0.) << 2
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self.add_config_cmd(REG_GCONF, self.reg_GCONF)
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# configure CHOPCONF
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self.add_config_cmd(
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (self.mres << 24) | (interpolate << 28))
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# configure IHOLD_IRUN
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self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
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# configure TPOWERDOWN
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self.add_config_cmd(0x11, tpowerdown)
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# configure TPWMTHRS
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self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
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# configure COOLCONF
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self.add_config_cmd(REG_COOLCONF, sgt << 16)
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# configure PWMCONF
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self.add_config_cmd(REG_PWMCONF, pwm_ampl | (pwm_grad << 8)
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| (pwm_freq << 16) | (pwm_scale << 18))
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def add_config_cmd(self, addr, val):
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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self.set_register("GCONF", self.reg_GCONF)
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self.set_register("CHOPCONF", (
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toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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| (vsense << 17) | (self.mres << 24) | (interpolate << 28)))
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self.set_register("IHOLD_IRUN",
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ihold | (irun << 8) | (iholddelay << 16))
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self.set_register("TPOWERDOWN", tpowerdown)
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self.set_register("TPWMTHRS", max(0, min(0xfffff, sc_threshold)))
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self.set_register("COOLCONF", sgt << 16)
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self.set_register("PWMCONF", (
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pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
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def current_bits(self, current, sense_resistor, vsense_on):
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sense_resistor += 0.020
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vsense = 0.32
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@ -123,23 +119,32 @@ class TMC2130:
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"spi_send oid=%c data=%*s", cq=cmd_queue)
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self.spi_transfer_cmd = self.mcu.lookup_command(
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"spi_transfer oid=%c data=%*s", cq=cmd_queue)
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def set_register(self, addr, val):
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data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi_send_cmd.send([self.oid, data])
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cmd_DUMP_TMC_help = "Read and display TMC2130 registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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logging.info("DUMP_TMC2130 %s", self.name)
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for reg, name in sorted(ReadRegisters.items()):
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def get_register(self, reg_name):
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reg = Registers[reg_name]
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self.spi_send_cmd.send([self.oid, [reg, 0x00, 0x00, 0x00, 0x00]])
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params = self.spi_transfer_cmd.send_with_response(
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[self.oid, [reg, 0x00, 0x00, 0x00, 0x00]],
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'spi_transfer_response', self.oid)
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pr = bytearray(params['response'])
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val = (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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msg = "%15s: %8x" % (name, val)
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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):
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reg = Registers[reg_name]
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if self.spi_send_cmd is None:
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# Setup register via chip initialization
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (reg | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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return
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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.spi_send_cmd.send([self.oid, data])
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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logging.info("DUMP_TMC %s", self.name)
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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msg = "%-15s %08x" % (reg_name + ":", val)
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logging.info(msg)
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gcode.respond_info(msg)
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@ -166,12 +171,12 @@ class TMC2130VirtualEndstop:
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gconf = self.tmc2130.reg_GCONF
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gconf &= ~GCONF_EN_PWM_MODE
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gconf |= GCONF_DIAG1_STALL
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self.tmc2130.set_register(REG_GCONF, gconf)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
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self.tmc2130.set_register("GCONF", gconf)
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self.tmc2130.set_register("TCOOLTHRS", 0xfffff)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0)
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self.tmc2130.set_register("GCONF", self.tmc2130.reg_GCONF)
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self.tmc2130.set_register("TCOOLTHRS", 0)
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self.mcu_endstop.home_finalize()
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def load_config_prefix(config):
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