tmc: Move common TMC stepper driver code to new file tmc.py
Move common code from tmc2130.py to tmc.py. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
10c0da9a6c
commit
b21a22d744
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# Common helper code for TMC stepper drivers
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#
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, collections
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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class FieldHelper:
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def __init__(self, all_fields, signed_fields=[], field_formatters={},
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registers=None):
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self.all_fields = all_fields
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self.signed_fields = {sf: 1 for sf in signed_fields}
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = collections.OrderedDict()
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name, default=None):
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return self.field_to_register.get(field_name, default)
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers[reg_name]
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mask = self.all_fields[reg_name][field_name]
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field_value = (reg_value & mask) >> ffs(mask)
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if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
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field_value -= (1 << field_value.bit_length())
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return field_value
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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elif field_name in self.signed_fields:
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val = config.getint(config_name, default,
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minval=-(maxval//2 + 1), maxval=maxval//2)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, reg_value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
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fields = []
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for mask, field_name in reg_fields:
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field_value = self.get_field(field_name, reg_value, reg_name)
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sval = self.field_formatters.get(field_name, str)(field_value)
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if sval and sval != "0":
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fields.append(" %s=%s" % (field_name, sval))
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# G-Code command helpers
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######################################################################
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class TMCCommandHelper:
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def __init__(self, config, mcu_tmc):
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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.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.query_registers = None
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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self.gcode.register_mux_command(
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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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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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def _init_registers(self, print_time):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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self.mcu_tmc.set_register(reg_name, val, print_time)
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def _handle_connect(self):
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try:
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self._init_registers(0.)
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except self.printer.command_error as e:
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raise self.printer.config_error(str(e))
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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 %s", self.name)
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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 TMC driver"
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def cmd_SET_TMC_FIELD(self, params):
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if 'FIELD' not in params or 'VALUE' not in params:
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raise self.gcode.error("Invalid command format")
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field_name = self.gcode.get_str('FIELD', params)
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise self.gcode.error("Unknown field name '%s'" % (field_name,))
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value = self.gcode.get_int('VALUE', params)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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# DUMP_TMC support
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def setup_register_dump(self, query_registers):
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self.query_registers = query_registers
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self.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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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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logging.info("DUMP_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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read_regs = self.query_registers(print_time)
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read_regs_by_name = { reg_name: val for reg_name, val in read_regs }
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self.gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in read_regs_by_name:
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self.gcode.respond_info(
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self.fields.pretty_format(reg_name, val))
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self.gcode.respond_info("========== Queried registers ==========")
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for reg_name, val in read_regs:
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self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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# TMC virtual endstops
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######################################################################
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# Endstop wrapper that enables "sensorless homing"
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class TMCVirtualEndstop:
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def __init__(self, mcu_tmc, mcu_endstop):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.mcu_endstop = mcu_endstop
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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self.fields.set_field("en_pwm_mode", 0)
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val = self.fields.set_field("diag1_stall", 1)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.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.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.fields.set_field("diag1_stall", 0)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.set_register("TCOOLTHRS", 0)
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self.mcu_endstop.home_finalize()
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class TMCEndstopHelper:
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def __init__(self, config, mcu_tmc, diag_pin):
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self.printer = config.get_printer()
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self.mcu_tmc = mcu_tmc
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self.diag_pin = diag_pin
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name_parts = config.get_name().split()
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ppins = self.printer.lookup_object("pins")
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ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
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def setup_pin(self, pin_type, pin_params):
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ppins = self.printer.lookup_object('pins')
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if self.diag_pin is None:
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raise ppins.error("tmc virtual endstop requires diag pin config")
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise ppins.error("tmc virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise ppins.error("Can not pullup/invert tmc virtual endstop")
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mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
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return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
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######################################################################
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# Config reading helpers
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######################################################################
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# Helper to configure and query the microstep settings
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class TMCMicrostepHelper:
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def __init__(self, config, mcu_tmc):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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mres = config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", mres)
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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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field_name = "MSCNT"
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if self.fields.lookup_register(field_name, None) is None:
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# TMC2660 uses MSTEP
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field_name = "MSTEP"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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mscnt = self.fields.get_field(field_name, reg)
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return mscnt >> self.fields.get_field("MRES")
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# Helper to configure "stealthchop" mode
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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fields = mcu_tmc.get_fields()
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en_pwm_mode = False
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if velocity:
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stepper_name = " ".join(config.get_name().split()[1:])
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
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en_pwm_mode = True
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reg = fields.lookup_register("en_pwm_mode", None)
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if reg is not None:
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fields.set_field("en_pwm_mode", en_pwm_mode)
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else:
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# TMC2208 uses en_spreadCycle
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fields.set_field("en_spreadCycle", not en_pwm_mode)
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@ -3,8 +3,8 @@
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, collections
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import bus
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import math, logging
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import bus, tmc
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TMC_FREQUENCY=13200000.
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@ -87,197 +87,6 @@ FieldFormatters = {
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}
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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class FieldHelper:
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def __init__(self, all_fields, signed_fields=[], field_formatters={},
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registers=None):
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self.all_fields = all_fields
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self.signed_fields = {sf: 1 for sf in signed_fields}
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = collections.OrderedDict()
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name, default=None):
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return self.field_to_register.get(field_name, default)
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers[reg_name]
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mask = self.all_fields[reg_name][field_name]
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field_value = (reg_value & mask) >> ffs(mask)
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if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
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field_value -= (1 << field_value.bit_length())
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return field_value
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default, config_name=None):
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# Allow a field to be set from the config file
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if config_name is None:
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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elif field_name in self.signed_fields:
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val = config.getint(config_name, default,
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minval=-(maxval//2 + 1), maxval=maxval//2)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, reg_value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
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fields = []
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for mask, field_name in reg_fields:
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field_value = self.get_field(field_name, reg_value, reg_name)
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sval = self.field_formatters.get(field_name, str)(field_value)
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if sval and sval != "0":
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fields.append(" %s=%s" % (field_name, sval))
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# G-Code command helpers
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######################################################################
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class TMCCommandHelper:
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def __init__(self, config, mcu_tmc):
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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.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.query_registers = None
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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self.gcode.register_mux_command(
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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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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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def _init_registers(self, print_time):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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self.mcu_tmc.set_register(reg_name, val, print_time)
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def _handle_connect(self):
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try:
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self._init_registers(0.)
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except self.printer.command_error as e:
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raise self.printer.config_error(str(e))
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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 %s", self.name)
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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 TMC driver"
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def cmd_SET_TMC_FIELD(self, params):
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if 'FIELD' not in params or 'VALUE' not in params:
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raise self.gcode.error("Invalid command format")
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field_name = self.gcode.get_str('FIELD', params)
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise self.gcode.error("Unknown field name '%s'" % (field_name,))
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value = self.gcode.get_int('VALUE', params)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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# DUMP_TMC support
|
||||
def setup_register_dump(self, query_registers):
|
||||
self.query_registers = query_registers
|
||||
self.gcode.register_mux_command(
|
||||
"DUMP_TMC", "STEPPER", self.name,
|
||||
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
|
||||
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
|
||||
def cmd_DUMP_TMC(self, params):
|
||||
logging.info("DUMP_TMC %s", self.name)
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
read_regs = self.query_registers(print_time)
|
||||
read_regs_by_name = { reg_name: val for reg_name, val in read_regs }
|
||||
self.gcode.respond_info("========== Write-only registers ==========")
|
||||
for reg_name, val in self.fields.registers.items():
|
||||
if reg_name not in read_regs_by_name:
|
||||
self.gcode.respond_info(
|
||||
self.fields.pretty_format(reg_name, val))
|
||||
self.gcode.respond_info("========== Queried registers ==========")
|
||||
for reg_name, val in read_regs:
|
||||
self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
|
||||
|
||||
|
||||
######################################################################
|
||||
# TMC virtual endstops
|
||||
######################################################################
|
||||
|
||||
# Endstop wrapper that enables "sensorless homing"
|
||||
class TMCVirtualEndstop:
|
||||
def __init__(self, mcu_tmc, mcu_endstop):
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.fields = mcu_tmc.get_fields()
|
||||
self.mcu_endstop = mcu_endstop
|
||||
self.en_pwm = self.fields.get_field("en_pwm_mode")
|
||||
# Wrappers
|
||||
self.get_mcu = self.mcu_endstop.get_mcu
|
||||
self.add_stepper = self.mcu_endstop.add_stepper
|
||||
self.get_steppers = self.mcu_endstop.get_steppers
|
||||
self.home_start = self.mcu_endstop.home_start
|
||||
self.home_wait = self.mcu_endstop.home_wait
|
||||
self.query_endstop = self.mcu_endstop.query_endstop
|
||||
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
|
||||
self.TimeoutError = self.mcu_endstop.TimeoutError
|
||||
def home_prepare(self):
|
||||
self.fields.set_field("en_pwm_mode", 0)
|
||||
val = self.fields.set_field("diag1_stall", 1)
|
||||
self.mcu_tmc.set_register("GCONF", val)
|
||||
self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
|
||||
self.mcu_endstop.home_prepare()
|
||||
def home_finalize(self):
|
||||
self.fields.set_field("en_pwm_mode", self.en_pwm)
|
||||
val = self.fields.set_field("diag1_stall", 0)
|
||||
self.mcu_tmc.set_register("GCONF", val)
|
||||
self.mcu_tmc.set_register("TCOOLTHRS", 0)
|
||||
self.mcu_endstop.home_finalize()
|
||||
|
||||
class TMCEndstopHelper:
|
||||
def __init__(self, config, mcu_tmc, diag_pin):
|
||||
self.printer = config.get_printer()
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.diag_pin = diag_pin
|
||||
name_parts = config.get_name().split()
|
||||
ppins = self.printer.lookup_object("pins")
|
||||
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
|
||||
def setup_pin(self, pin_type, pin_params):
|
||||
ppins = self.printer.lookup_object('pins')
|
||||
if self.diag_pin is None:
|
||||
raise ppins.error("tmc virtual endstop requires diag pin config")
|
||||
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
|
||||
raise ppins.error("tmc virtual endstop only useful as endstop")
|
||||
if pin_params['invert'] or pin_params['pullup']:
|
||||
raise ppins.error("Can not pullup/invert tmc virtual endstop")
|
||||
mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
|
||||
return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
|
||||
|
||||
|
||||
######################################################################
|
||||
# TMC stepper current config helper
|
||||
######################################################################
|
||||
|
|
@ -356,51 +165,6 @@ class TMCCurrentHelper:
|
|||
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
|
||||
|
||||
|
||||
######################################################################
|
||||
# Config reading helpers
|
||||
######################################################################
|
||||
|
||||
# Helper to configure and query the microstep settings
|
||||
class TMCMicrostepHelper:
|
||||
def __init__(self, config, mcu_tmc):
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.fields = mcu_tmc.get_fields()
|
||||
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
|
||||
'8': 5, '4': 6, '2': 7, '1': 8}
|
||||
mres = config.getchoice('microsteps', steps)
|
||||
self.fields.set_field("MRES", mres)
|
||||
def get_microsteps(self):
|
||||
return 256 >> self.fields.get_field("MRES")
|
||||
def get_phase(self):
|
||||
field_name = "MSCNT"
|
||||
if self.fields.lookup_register(field_name, None) is None:
|
||||
# TMC2660 uses MSTEP
|
||||
field_name = "MSTEP"
|
||||
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
|
||||
mscnt = self.fields.get_field(field_name, reg)
|
||||
return mscnt >> self.fields.get_field("MRES")
|
||||
|
||||
# Helper to configure "stealthchop" mode
|
||||
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
|
||||
fields = mcu_tmc.get_fields()
|
||||
en_pwm_mode = False
|
||||
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
|
||||
if velocity:
|
||||
stepper_name = " ".join(config.get_name().split()[1:])
|
||||
stepper_config = config.getsection(stepper_name)
|
||||
step_dist = stepper_config.getfloat('step_distance')
|
||||
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
|
||||
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
|
||||
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
|
||||
en_pwm_mode = True
|
||||
reg = fields.lookup_register("en_pwm_mode", None)
|
||||
if reg is not None:
|
||||
fields.set_field("en_pwm_mode", en_pwm_mode)
|
||||
else:
|
||||
# TMC2208 uses en_spreadCycle
|
||||
fields.set_field("en_spreadCycle", not en_pwm_mode)
|
||||
|
||||
|
||||
######################################################################
|
||||
# TMC2130 SPI
|
||||
######################################################################
|
||||
|
|
@ -437,20 +201,20 @@ class MCU_TMC_SPI:
|
|||
class TMC2130:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
|
||||
# Allow virtual endstop to be created
|
||||
diag1_pin = config.get('diag1_pin', None)
|
||||
TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
|
||||
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
|
||||
# Register commands
|
||||
cmdhelper = TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
# Setup basic register values
|
||||
TMCCurrentHelper(config, self.mcu_tmc)
|
||||
mh = TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
self.get_microsteps = mh.get_microsteps
|
||||
self.get_phase = mh.get_phase
|
||||
TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
# Allow other registers to be set from the config
|
||||
set_config_field = self.fields.set_config_field
|
||||
set_config_field(config, "toff", 4)
|
||||
|
|
|
|||
|
|
@ -3,8 +3,8 @@
|
|||
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import logging, collections
|
||||
import tmc2130
|
||||
import logging
|
||||
import tmc, tmc2130
|
||||
|
||||
TMC_FREQUENCY=12000000.
|
||||
|
||||
|
|
@ -308,20 +308,20 @@ class MCU_TMC_uart:
|
|||
class TMC2208:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = MCU_TMC_uart(config, Registers, self.fields)
|
||||
# Register commands
|
||||
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
# Setup basic register values
|
||||
self.fields.set_field("pdn_disable", True)
|
||||
self.fields.set_field("mstep_reg_select", True)
|
||||
self.fields.set_field("multistep_filt", True)
|
||||
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
|
||||
mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
self.get_microsteps = mh.get_microsteps
|
||||
self.get_phase = mh.get_phase
|
||||
tmc2130.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
# Allow other registers to be set from the config
|
||||
set_config_field = self.fields.set_config_field
|
||||
set_config_field(config, "toff", 3)
|
||||
|
|
|
|||
|
|
@ -4,8 +4,8 @@
|
|||
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, collections, logging
|
||||
import bus, tmc2130
|
||||
import math, logging
|
||||
import bus, tmc
|
||||
|
||||
Registers = {
|
||||
"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
|
||||
|
|
@ -231,14 +231,14 @@ class MCU_TMC2660_SPI:
|
|||
class TMC2660:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
|
||||
# Register commands
|
||||
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
|
||||
# DRVCTRL
|
||||
mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
self.get_microsteps = mh.get_microsteps
|
||||
self.get_phase = mh.get_phase
|
||||
set_config_field = self.fields.set_config_field
|
||||
|
|
|
|||
|
|
@ -3,8 +3,8 @@
|
|||
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, logging, collections
|
||||
import bus, tmc2130
|
||||
import math, logging
|
||||
import bus, tmc, tmc2130
|
||||
|
||||
TMC_FREQUENCY=12000000.
|
||||
|
||||
|
|
@ -289,19 +289,19 @@ class TMC5160CurrentHelper:
|
|||
class TMC5160:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
|
||||
# Allow virtual endstop to be created
|
||||
diag1_pin = config.get('diag1_pin', None)
|
||||
tmc2130.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
|
||||
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
|
||||
# Register commands
|
||||
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(self.query_registers)
|
||||
# Setup basic register values
|
||||
mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
|
||||
self.get_microsteps = mh.get_microsteps
|
||||
self.get_phase = mh.get_phase
|
||||
tmc2130.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
|
||||
# CHOPCONF
|
||||
set_config_field = self.fields.set_config_field
|
||||
set_config_field(config, "toff", 3)
|
||||
|
|
|
|||
Loading…
Reference in New Issue