tmc2660: Use helper functions for register access and simplify TMC2660 parameters
sense_resistor is now a mandatory parameter for tmc2660 blocks. Duet2 users should use a value of 0.051 Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann
KevinOConnor
parent
4541f16cd9
commit
e96b71a9a3
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@ -1050,9 +1050,9 @@
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#run_current:
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# The amount of current (in ampere) used by the driver during stepper
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# movement. This parameter must be provided.
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#sense_resistor: 0.051
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# The resistance (in ohms) of the motor sense resistor. The default
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# is 0.051 ohms.
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#sense_resistor:
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# The resistance (in ohms) of the motor sense resistor. This parameter
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# must be provided.
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#idle_current_percent: 100
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# The percentage of the run_current the stepper driver will be
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# lowered to when the idle timeout expires (you need to set up the
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@ -1062,42 +1062,35 @@
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# their position. There is also small delay until the current is
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# raised again, so take this into account when commanding fast moves
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# while the stepper is idling. The default is 100 (no reduction).
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#driver_DEDGE: False
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#driver_TBL: 36
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# Valid values are 16, 24, 36, 54.
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#driver_CHM: spreadcycle
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# Valid values are 'spreadcycle' and 'constant_toff'
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#driver_RNDTF: False
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#driver_HDEC: False
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#driver_HEND: 7 if spreadcycle is used, 3 otherwise
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#driver_HSTRT: 5 if spreadcycle is used, 4 otherwise
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#driver_TOFF: 7 if spreadcycle is used, 4 otherwise
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#driver_SEIMIN: half
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# Valid values are 'quarter' and 'half'.
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#driver_SEDN: 32
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# Valid values are 1, 2, 8, 32.
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#driver_DEDGE: 0
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#driver_TBL: 2
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#driver_RNDTF: 0
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#driver_HDEC: 0
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#driver_CHM: 0
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#driver_HEND: 6
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#driver_HSTRT: 3
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#driver_TOFF: 4
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#driver_SEIMIN: 0
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#driver_SEDN: 0
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#driver_SEMAX: 0
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#driver_SEUP: 1
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# Valid values are 1, 2, 4, 8.
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#driver_SEUP: 0
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#driver_SEMIN: 0
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#driver_SFILT: True
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#driver_SGT: -64
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#driver_SLPH: min
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# Valid values are 'min', 'min_tc', 'med_tc', 'max'
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#driver_SLPL: min
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# Valid values are 'min', 'med', 'max'
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#driver_DISS2G: False
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#driver_TS2G: 0.8
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# Valid values are 0.8, 1.2, 1.6, 3.2.
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#driver_VSENSE: high
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# Valid values are 'high' and 'low'
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#driver_SFILT: 1
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#driver_SGT: 0
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#driver_SLPH: 0
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#driver_SLPL: 0
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#driver_DISS2G: 0
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#driver_TS2G: 3
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#driver_VSENSE: 1
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#
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# Set the given parameter during the configuration of the TMC2660
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# chip. This may be used to set custom driver parameters. The
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# defaults for each parameter are next to the parameter name in the
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# list above. See the TMC2660 datasheet about what each parameter
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# does and what the restrictions on parameter combinations are.
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# Be especially aware of the CHOPCONF register, where setting CHM to
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# either 0 or one will lead to layout changes (the first bit of HDEC)
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# is interpreted as the MSB of HSTRT in this case).
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# Homing override. One may use this mechanism to run a series of
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# g-code commands in place of a G28 found in the normal g-code input.
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@ -98,6 +98,7 @@ spi_bus: 1 # All TMC2660 drivers are connected to USART1, which is bus 1 on the
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microsteps: 16
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interpolate: True # 1/16 micro-steps interpolated to 1/256
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run_current: 1.000
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sense_resistor: 0.051
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idle_current_percent: 20
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[stepper_y]
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@ -115,6 +116,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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idle_current_percent: 20
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[stepper_z]
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@ -132,6 +134,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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#On drive E4
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[stepper_z1]
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@ -146,6 +149,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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#On drive E5
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[stepper_z2]
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@ -160,6 +164,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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#On drive E6
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[stepper_z3]
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@ -174,6 +179,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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#On drive E0
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[extruder0]
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@ -199,6 +205,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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#On drive E1
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[extruder1]
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@ -224,6 +231,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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# On drive E2
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[extruder2]
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@ -249,6 +257,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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# On drive E3
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[extruder3]
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@ -274,6 +283,7 @@ spi_bus: 1
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microsteps: 16
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interpolate: True
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run_current: 1.000
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sense_resistor: 0.051
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[heater_bed]
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heater_pin: !PA19
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@ -3,77 +3,122 @@
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# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.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
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import bus
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REG_DRVCONF = 0xe << 16
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REG_SGCSCONF = 0xc << 16
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REG_SMARTEN = 0xa << 16
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REG_CHOPCONF = 0x8 << 16
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REG_DRVCTRL = 0x0 << 16
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def get_bits(reg, field, value):
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return ((value << reg[field][0]) & reg[field][1])
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def read_field(bits, reg, field):
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return (bits & reg[field][1]) >> reg[field][0]
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import math, collections
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import bus, tmc2130
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def current_to_reg(current, sense_resistor, vsense_on):
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vsense = 0.165 if vsense_on else 0.310
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cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
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return max(0, min(31, cs))
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return max(0, min(cs, 31))
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DRVCTRL = {
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"INTPOL" : (9, 0x00100),
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"DEDGE" : (8, 0x00080),
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"MRES" : (0, 0x0000F)
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Registers = {
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"DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
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"CHOPCONF": 0x8, "DRVCTRL": 0x0
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}
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CHOPCONF = {
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"TBL" : (15, 0x18000),
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"CHM" : (14, 0x04000),
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"RNDTF" : (13, 0x02000),
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"HDEC" : (11, 0x01800),
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"HEND" : (7, 0x00780),
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"HSTRT" : (4, 0x00070),
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"TOFF" : (0, 0x0000F)
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Fields = {}
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Fields["DRVCTRL"] = {
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"MRES": 0x0f,
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"DEDGE": 0x01 << 8,
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"INTPOL": 0x01 << 9,
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}
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SMARTEN = {
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"SEIMIN" : (15, 0x08000),
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"SEDN" : (14, 0x06000),
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"SEMAX" : (8, 0x00F00),
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"SEUP" : (5, 0x00060),
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"SEMIN" : (0, 0x0000F)
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Fields["CHOPCONF"] = {
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"TOFF": 0x0f,
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"HSTRT": 0x7 << 4,
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"HEND": 0x0f << 7,
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"HDEC": 0x03 << 11,
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"RNDTF": 0x01 << 13,
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"CHM": 0x01 << 14,
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"TBL": 0x03 << 15
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}
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SGCSCONF = {
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"SFILT" : (16, 0x10000),
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"SGT" : (8, 0x07800),
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"CS" : (0, 0x0001F)
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Fields["SMARTEN"] = {
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"SEMIN" : 0x0f,
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"SEUP": 0x03 << 5,
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"SEMAX": 0x0f << 8,
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"SEDN": 0x03 << 13,
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"SEIMIN": 0x01 << 15
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}
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DRVCONF = {
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"TST" : (16, 0x10000),
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"SLPH" : (14, 0x0C000),
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"SLPL" : (12, 0x03000),
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"DISS2G" : (10, 0x00400),
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"TS2G" : (8, 0x00300),
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"SDOFF" : (7, 0x00080),
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"VSENSE" : (6, 0x00040),
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"RDSEL" : (4, 0x00030)
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Fields["SGCSCONF"] = {
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"CS": 0x1f,
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"SGT": 0x7F << 8,
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"SFILT": 0x01 << 16
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}
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READRSP = {
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"MSTEP" : (10, 0xFFC00),
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"STST" : (7, 0x00080),
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"OLB" : (6, 0x00040),
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"OLA" : (5, 0x00020),
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"S2GB" : (4, 0x00010),
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"S2GA" : (3, 0x00008),
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"OTPW" : (2, 0x00004),
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"OT" : (1, 0x00002),
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"SG" : (0, 0x00001)
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Fields["DRVCONF"] = {
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"RDSEL": 0x03 << 4,
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"VSENSE": 0x01 << 6,
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"SDOFF": 0x01 << 7,
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"TS2G": 0x03 << 8,
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"DISS2G": 0x01 << 10,
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"SLPL": 0x03 << 12,
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"SLPH": 0x03 << 14,
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"TST": 0x01 << 16
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}
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Fields["READRSP@RDSEL0"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"MSTEP": 0x3ff << 10
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}
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Fields["READRSP@RDSEL1"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"SG@RDSEL1": 0x3ff << 10
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}
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Fields["READRSP@RDSEL2"] = {
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"SG": 0x01,
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"OT": 0x01 << 1,
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"OTPW": 0x01 << 2,
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"S2GA": 0x01 << 3,
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"S2GB": 0x01 << 4,
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"OLA": 0x01 << 5,
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"OLB": 0x01 << 6,
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"STST": 0x01 << 7,
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"SG@RDSEL2": 0x1f << 15,
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"SE": 0x1f << 10
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}
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FieldFormatters = {
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"DEDGE": (lambda v:
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"1(Both Edges Active)" if v else "0(Only Rising Edge active)"),
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"INTPOL": (lambda v: "1(On)" if v else "0(Off)"),
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"TOFF": (lambda v: ("%d" % v) if v else "0(Driver Disabled!)"),
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"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
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"SGT": (lambda v: "%d" % (v)),
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"SFILT": (lambda v: "1(Filtered mode)" if v else "0(Standard mode)"),
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"VSENSE": (lambda v: "%d(%dmV)" % (v, 165 if v else 305)),
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"SDOFF": (lambda v: "1(Step/Dir disabled" if v else "0(Step/dir enabled)"),
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"DISS2G": (lambda v: "%d(Short to GND protection %s)" % (v,
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"disabled" if v else "enabled")),
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"MSTEP": (lambda v: "%d(%d, OA1 %s OA2)" % (v, v & 0xff,
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"<=" if v & 0x100 else "=>")),
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"SG": (lambda v: "%d(%s)" % (v, "Stall!" if v else "No Stall!")),
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"OT": (lambda v: "1(Overtemp shutdown!)" if v else ""),
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"OTPW": (lambda v: "1(Overtemp warning!)" if v else ""),
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"S2GA": (lambda v: "1(Short to GND Coil A!)" if v else ""),
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"S2GB": (lambda v: "1(Short to GND Coil B!)" if v else ""),
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"OLA": (lambda v: "1(Open Load Coil A at slow speed!)" if v else ""),
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"OLB": (lambda v: "1(Open Load Coil B at slow speed!)" if v else ""),
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"STST": (lambda v: "1(Standstill detected!)" if v else ""),
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}
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class TMC2660:
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@ -90,121 +135,59 @@ class TMC2660:
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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.regs = collections.OrderedDict()
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self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
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set_config_field = self.fields.set_config_field
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# DRVCTRL
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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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self.driver_mres = config.getchoice('microsteps', steps)
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self.driver_intpol = config.getboolean('interpolate', default=True)
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self.current = config.getfloat('run_current', minval=0.1,
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maxval=2.4)
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self.driver_dedge = config.getboolean('driver_DEDGE', default=False)
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self.fields.set_field("MRES", self.driver_mres)
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set_config_field(config, "DEDGE", 0)
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set_config_field(config, "INTPOL", True, 'interpolate')
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# CHOPCONF
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btime = {'16': 0, '24': 1, '36': 2, '54': 3}
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self.driver_tbl = config.getchoice('driver_TBL', btime, default='36')
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chm = {'spreadcycle': 0, 'constant_toff': 1}
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self.driver_chm = config.getchoice('driver_CHM', chm,
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default='spreadcycle')
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self.driver_rndtf = config.getboolean('driver_RNDTF', False)
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if self.driver_chm:
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self.driver_hend = config.getint('driver_HEND', default=7,
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minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=5,
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minval=0, maxval=15)
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self.driver_toff = config.getint('driver_TOFF', default=7,
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minval=0, maxval=15)
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# if chm is 1, HDEC1 is the MSB of HSTRT
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self.driver_hdec = (config.getboolean('driver_HDEC', default=False)
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| ((self.driver_hstrt & 0x8) >> 1))
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else:
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self.driver_hdec = config.getboolean('driver_HDEC', default=False)
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self.driver_hend = config.getint('driver_HEND', default=3,
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minval=-3, maxval=12) + 3
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self.driver_hstrt = config.getint('driver_HSTRT', default=4,
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minval=1, maxval=8) - 1
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self.driver_toff = config.getint('driver_TOFF', default=4,
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minval=0, maxval=15)
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if self.driver_hstrt + self.driver_hend > 15:
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raise config.error("driver_HEND + HSTRT must be <= 15")
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set_config_field(config, "TBL", 2)
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set_config_field(config, "RNDTF", 0)
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set_config_field(config, "HDEC", 0)
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set_config_field(config, "CHM", 0)
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set_config_field(config, "HEND", 6)
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set_config_field(config, "HSTRT", 3)
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set_config_field(config, "TOFF", 4)
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if not self.fields.get_field("CHM"):
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if (self.fields.get_field("HSTRT") +
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self.fields.get_field("HEND")) > 15:
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raise config.error("driver_HEND + driver_HSTRT must be <= 15")
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# SMARTEN
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csc = {'quarter': 1, 'half': 0}
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self.driver_seimin = config.getchoice('driver_SEIMIN', csc,
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default='half')
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cds = {'32': 0, '8': 1, '2': 2, '1': 3}
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self.driver_sedn = config.getchoice('driver_SEDN', cds, default='32')
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self.driver_semax = config.getint('driver_SEMAX', default=0,
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minval=0, maxval=15)
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cis = {'1': 0, '2': 1, '4': 2, '8': 3}
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self.driver_seup = config.getchoice('driver_SEUP', cis, default='1')
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self.driver_semin = config.getint('driver_SEMIN', default=0,
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minval=0, maxval=15)
|
||||
set_config_field(config, "SEIMIN", 0)
|
||||
set_config_field(config, "SEDN", 0)
|
||||
set_config_field(config, "SEMAX", 0)
|
||||
set_config_field(config, "SEUP", 0)
|
||||
set_config_field(config, "SEMIN", 0)
|
||||
|
||||
# DRVCONF
|
||||
slph = {'min': 0, 'min_tc': 1, 'med_tc': 2, 'max': 3}
|
||||
self.driver_slph = config.getchoice('driver_SLPH', slph, default='min')
|
||||
slpl = {'min': 0, 'med': 2, 'max': 3}
|
||||
self.driver_slpl = config.getchoice('driver_SLPL', slpl, default='min')
|
||||
self.driver_diss2g = config.getboolean('driver_DISS2G', default=False)
|
||||
ts2g = {'3.2': 0, '1.6': 1, '1.2': 2, '0.8': 3}
|
||||
self.driver_ts2g = config.getchoice('driver_TS2G', ts2g, default='0.8')
|
||||
# since we don't support SPI mode yet, this has to be False
|
||||
self.driver_sdoff = False
|
||||
vsense = {'low': 0, 'high': 1}
|
||||
self.driver_vsense = config.getchoice('driver_VSENSE', vsense,
|
||||
default='high')
|
||||
self.sense_resistor = config.getfloat('sense_resistor', default=0.051)
|
||||
self.driver_rdsel = 0 # Microsteps (used by endstop phase)
|
||||
set_config_field(config, "SLPH", 0)
|
||||
set_config_field(config, "SLPL", 0)
|
||||
set_config_field(config, "DISS2G", 0)
|
||||
set_config_field(config, "TS2G", 3)
|
||||
set_config_field(config, "VSENSE", 1)
|
||||
self.fields.set_field("RDSEL", 0) # needed for phase calculations
|
||||
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
|
||||
self.sense_resistor = config.getfloat('sense_resistor')
|
||||
|
||||
# SGSCONF
|
||||
self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
|
||||
self.driver_sgt = config.getint('driver_sgt', default=-64,
|
||||
minval=-64, maxval=63) + 64
|
||||
self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.driver_vsense)
|
||||
set_config_field(config, "SFILT", 1)
|
||||
set_config_field(config, "SGT", 0)
|
||||
self.current = config.getfloat('run_current', minval=0.1,
|
||||
maxval=2.4)
|
||||
self.driver_cs = current_to_reg(self.current,
|
||||
self.sense_resistor, self.fields.get_field("VSENSE"))
|
||||
self.fields.set_field("CS", self.driver_cs)
|
||||
|
||||
# Build and send registers
|
||||
self.reg_drvconf = REG_DRVCONF | \
|
||||
get_bits(DRVCONF, "TST", 0) | \
|
||||
get_bits(DRVCONF, "SLPH", self.driver_slph) | \
|
||||
get_bits(DRVCONF, "SLPL", self.driver_slpl) | \
|
||||
get_bits(DRVCONF, "DISS2G", self.driver_diss2g) | \
|
||||
get_bits(DRVCONF, "TS2G", self.driver_ts2g) | \
|
||||
get_bits(DRVCONF, "SDOFF", self.driver_sdoff) | \
|
||||
get_bits(DRVCONF, "VSENSE", self.driver_vsense) | \
|
||||
get_bits(DRVCONF, "RDSEL", self.driver_rdsel)
|
||||
self.add_config_cmd(self.reg_drvconf)
|
||||
# Init Registers
|
||||
self._init_registers(self)
|
||||
|
||||
self.reg_drvctrl = REG_DRVCTRL | \
|
||||
get_bits(DRVCTRL, "INTPOL", self.driver_intpol) | \
|
||||
get_bits(DRVCTRL, "DEDGE", self.driver_dedge) | \
|
||||
get_bits(DRVCTRL, "MRES", self.driver_mres)
|
||||
self.add_config_cmd(self.reg_drvctrl)
|
||||
|
||||
self.reg_chopconf = REG_CHOPCONF | \
|
||||
get_bits(CHOPCONF, "TBL", self.driver_tbl) | \
|
||||
get_bits(CHOPCONF, "CHM", self.driver_chm) | \
|
||||
get_bits(CHOPCONF, "RNDTF", self.driver_rndtf) | \
|
||||
get_bits(CHOPCONF, "HDEC", self.driver_hdec) | \
|
||||
get_bits(CHOPCONF, "HEND", self.driver_hend) | \
|
||||
get_bits(CHOPCONF, "HSTRT", self.driver_hstrt) | \
|
||||
get_bits(CHOPCONF, "TOFF", self.driver_toff)
|
||||
self.add_config_cmd(self.reg_chopconf)
|
||||
|
||||
self.reg_sgcsconf = REG_SGCSCONF | \
|
||||
get_bits(SGCSCONF, "SFILT", self.driver_sfilt) | \
|
||||
get_bits(SGCSCONF, "SGT", self.driver_sgt) | \
|
||||
get_bits(SGCSCONF, "CS", self.driver_cs)
|
||||
self.add_config_cmd(self.reg_sgcsconf)
|
||||
|
||||
self.reg_smarten = REG_SMARTEN | \
|
||||
get_bits(SMARTEN, "SEIMIN", self.driver_seimin) | \
|
||||
get_bits(SMARTEN, "SEDN", self.driver_sedn) | \
|
||||
get_bits(SMARTEN, "SEMAX", self.driver_semax) | \
|
||||
get_bits(SMARTEN, "SEUP", self.driver_seup) | \
|
||||
get_bits(SMARTEN, "SEMIN", self.driver_semin)
|
||||
self.add_config_cmd(self.reg_smarten)
|
||||
|
||||
# Idle timeout
|
||||
# Register ready/printing handlers
|
||||
self.idle_current_percentage = config.getint(
|
||||
'idle_current_percent', default=100, minval=0, maxval=100)
|
||||
if self.idle_current_percentage < 100:
|
||||
|
|
@ -213,42 +196,45 @@ class TMC2660:
|
|||
self.printer.register_event_handler("idle_timeout:ready",
|
||||
self.handle_ready)
|
||||
|
||||
def add_config_cmd(self, val):
|
||||
data = [(val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
|
||||
self.spi.spi_send(data)
|
||||
def _init_registers(self, min_clock=0):
|
||||
for reg_name in Registers:
|
||||
self.set_register(reg_name, self.regs[reg_name])
|
||||
|
||||
def set_register(self, reg_name, val, min_clock=0):
|
||||
reg = Registers[reg_name]
|
||||
self.spi.spi_send([((val >> 16) | reg) & 0xff,
|
||||
(val >> 8) & 0xff, val & 0xff], min_clock)
|
||||
|
||||
def get_response(self):
|
||||
reg = Registers["DRVCTRL"]
|
||||
val = self.regs["DRVCTRL"]
|
||||
params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
|
||||
(val >> 8) & 0xff, val & 0xff])
|
||||
pr = bytearray(params['response'])
|
||||
return (pr[0] << 16) | (pr[1] << 8) | pr[2]
|
||||
|
||||
def get_microsteps(self):
|
||||
return 256 >> self.driver_mres
|
||||
return 256 >> self.fields.get_field("MRES")
|
||||
|
||||
def get_phase(self):
|
||||
# Send DRVCTRL to get a response
|
||||
reg_data = [(self.reg_drvctrl >> 16) & 0xff,
|
||||
(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
|
||||
params = self.spi.spi_transfer(reg_data)
|
||||
pr = bytearray(params['response'])
|
||||
steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2])
|
||||
& READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
|
||||
return steps >> self.driver_mres
|
||||
mscnt = self.fields.get_field("MSTEP", self.get_response())
|
||||
return mscnt >> self.driver_mres
|
||||
|
||||
def handle_printing(self, print_time):
|
||||
self.set_current(print_time, self.current)
|
||||
self.set_current(0., self.current) # workaround
|
||||
|
||||
def handle_ready(self, print_time):
|
||||
self.set_current(print_time, (float(self.idle_current_percentage)
|
||||
* self.current / 100))
|
||||
|
||||
def set_current(self, print_time, current):
|
||||
self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.driver_vsense)
|
||||
reg = self.reg_sgcsconf
|
||||
reg &= ~(SGCSCONF["CS"][1])
|
||||
reg |= get_bits(SGCSCONF, "CS", self.driver_cs)
|
||||
reg_data = [(reg >> 16) & 0xff, (reg >> 8) & 0xff, reg & 0xff]
|
||||
self.driver_cs = current_to_reg(current, self.sense_resistor,
|
||||
self.fields.get_field("VSENSE"))
|
||||
self.fields.set_field("CS", self.driver_cs)
|
||||
clock = self.spi.get_mcu().print_time_to_clock(print_time)
|
||||
self.spi.spi_send(reg_data, minclock=clock, reqclock=clock)
|
||||
self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock)
|
||||
|
||||
cmd_SET_TMC_CURRENT_help = (
|
||||
"Set the current of a TMC2660 driver (between %d and %d)" % (
|
||||
0.1, 2.4))
|
||||
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
|
||||
def cmd_SET_TMC_CURRENT(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
if 'CURRENT' in params:
|
||||
|
|
@ -262,20 +248,15 @@ class TMC2660:
|
|||
def cmd_DUMP_TMC(self, params):
|
||||
self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
for reg_name , val in zip(["DRVCONF", "DRVCTRL", "CHOPCONF",
|
||||
"SGCSCONF", "SMARTEN"],
|
||||
[self.reg_drvconf, self.reg_drvctrl,
|
||||
self.reg_chopconf, self.reg_sgcsconf,
|
||||
self.reg_smarten]):
|
||||
msg = "%-15s %08x" % (reg_name + " (cached):", val)
|
||||
gcode.respond_info("========== Write-only registers ==========")
|
||||
for reg_name in Registers:
|
||||
msg = self.fields.pretty_format(reg_name, self.regs[reg_name])
|
||||
gcode.respond_info(msg)
|
||||
|
||||
# Send one register to get the return data
|
||||
reg_data = [(self.reg_drvctrl >> 16) & 0xff,
|
||||
(self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
|
||||
params = self.spi.spi_transfer(reg_data)
|
||||
pr = bytearray(params['response'])
|
||||
msg = "%-15s %08x" % (
|
||||
"RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2]))
|
||||
gcode.respond_info("========== Queried registers ==========")
|
||||
return_format = "READRSP@RDSEL" + str(self.fields.get_field("RDSEL"))
|
||||
msg = self.fields.pretty_format(return_format, self.get_response())
|
||||
gcode.respond_info(msg)
|
||||
|
||||
def load_config_prefix(config):
|
||||
|
|
|
|||
Loading…
Reference in New Issue