225 lines
7.4 KiB
Python
225 lines
7.4 KiB
Python
# TMC2208 UART communication and configuration
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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
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from . import tmc, tmc_uart, tmc2130
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TMC_FREQUENCY=12000000.
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Registers = {
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"GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
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"OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
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"IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
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"VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
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"DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
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}
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ReadRegisters = [
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"GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
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"MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
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"PWMCONF", "PWM_SCALE", "PWM_AUTO"
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]
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 0x01,
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"internal_Rsense": 0x01 << 1,
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"en_spreadCycle": 0x01 << 2,
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"shaft": 0x01 << 3,
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"index_otpw": 0x01 << 4,
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"index_step": 0x01 << 5,
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"pdn_disable": 0x01 << 6,
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"mstep_reg_select": 0x01 << 7,
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"multistep_filt": 0x01 << 8,
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"test_mode": 0x01 << 9
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}
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Fields["GSTAT"] = {
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"reset": 0x01,
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"drv_err": 0x01 << 1,
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"uv_cp": 0x01 << 2
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}
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Fields["IFCNT"] = {
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"IFCNT": 0xff
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}
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Fields["SLAVECONF"] = {
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"SENDDELAY": 0x0f << 8
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}
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Fields["OTP_PROG"] = {
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"OTPBIT": 0x07,
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"OTPBYTE": 0x03 << 4,
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"OTPMAGIC": 0xff << 8
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}
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Fields["OTP_READ"] = {
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"OTP_FCLKTRIM": 0x1f,
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"otp_OTTRIM": 0x01 << 5,
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"otp_internalRsense": 0x01 << 6,
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"otp_TBL": 0x01 << 7,
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"OTP_PWM_GRAD": 0x0f << 8,
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"otp_pwm_autograd": 0x01 << 12,
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"OTP_TPWMTHRS": 0x07 << 13,
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"otp_PWM_OFS": 0x01 << 16,
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"otp_PWM_REG": 0x01 << 17,
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"otp_PWM_FREQ": 0x01 << 18,
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"OTP_IHOLDDELAY": 0x03 << 19,
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"OTP_IHOLD": 0x03 << 21,
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"otp_en_spreadCycle": 0x01 << 23
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}
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# IOIN mapping depends on the driver type (SEL_A field)
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# TMC222x (SEL_A == 0)
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Fields["IOIN@TMC222x"] = {
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"PDN_UART": 0x01 << 1,
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"SPREAD": 0x01 << 2,
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"DIR": 0x01 << 3,
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"ENN": 0x01 << 4,
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"STEP": 0x01 << 5,
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"MS1": 0x01 << 6,
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"MS2": 0x01 << 7,
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"SEL_A": 0x01 << 8,
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"VERSION": 0xff << 24
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}
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# TMC220x (SEL_A == 1)
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Fields["IOIN@TMC220x"] = {
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"ENN": 0x01,
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"MS1": 0x01 << 2,
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"MS2": 0x01 << 3,
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"DIAG": 0x01 << 4,
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"PDN_UART": 0x01 << 6,
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"STEP": 0x01 << 7,
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"SEL_A": 0x01 << 8,
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"DIR": 0x01 << 9,
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"VERSION": 0xff << 24,
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}
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Fields["FACTORY_CONF"] = {
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"FCLKTRIM": 0x1f,
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"OTTRIM": 0x03 << 8
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f,
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"IRUN": 0x1f << 8,
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"IHOLDDELAY": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = {
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"TPOWERDOWN": 0xff
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}
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Fields["TSTEP"] = {
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"TSTEP": 0xfffff
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}
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Fields["TPWMTHRS"] = {
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"TPWMTHRS": 0xfffff
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}
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Fields["VACTUAL"] = {
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"VACTUAL": 0xffffff
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}
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Fields["MSCNT"] = {
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"MSCNT": 0x3ff
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}
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Fields["MSCURACT"] = {
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"CUR_A": 0x1ff,
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"CUR_B": 0x1ff << 16
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}
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Fields["CHOPCONF"] = {
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"toff": 0x0f,
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"hstrt": 0x07 << 4,
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"hend": 0x0f << 7,
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"TBL": 0x03 << 15,
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"vsense": 0x01 << 17,
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"MRES": 0x0f << 24,
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"intpol": 0x01 << 28,
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"dedge": 0x01 << 29,
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"diss2g": 0x01 << 30,
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"diss2vs": 0x01 << 31
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}
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Fields["DRV_STATUS"] = {
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"otpw": 0x01,
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"ot": 0x01 << 1,
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"s2ga": 0x01 << 2,
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"s2gb": 0x01 << 3,
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"s2vsa": 0x01 << 4,
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"s2vsb": 0x01 << 5,
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"ola": 0x01 << 6,
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"olb": 0x01 << 7,
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"t120": 0x01 << 8,
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"t143": 0x01 << 9,
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"t150": 0x01 << 10,
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"t157": 0x01 << 11,
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"CS_ACTUAL": 0x1f << 16,
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"stealth": 0x01 << 30,
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"stst": 0x01 << 31
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}
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Fields["PWMCONF"] = {
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"PWM_OFS": 0xff,
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"PWM_GRAD": 0xff << 8,
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"pwm_freq": 0x03 << 16,
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"pwm_autoscale": 0x01 << 18,
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"pwm_autograd": 0x01 << 19,
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"freewheel": 0x03 << 20,
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"PWM_REG": 0xf << 24,
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"PWM_LIM": 0xf << 28
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}
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Fields["PWM_SCALE"] = {
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"PWM_SCALE_SUM": 0xff,
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"PWM_SCALE_AUTO": 0x1ff << 16
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}
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Fields["PWM_AUTO"] = {
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"PWM_OFS_AUTO": 0xff,
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"PWM_GRAD_AUTO": 0xff << 16
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}
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SignedFields = ["CUR_A", "CUR_B", "PWM_SCALE_AUTO"]
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FieldFormatters = dict(tmc2130.FieldFormatters)
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FieldFormatters.update({
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"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
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"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
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"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
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})
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######################################################################
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# TMC2208 printer object
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######################################################################
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class TMC2208:
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def __init__(self, config):
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# Setup mcu communication
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self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
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self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
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# Register commands
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current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
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cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
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cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
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# Setup basic register values
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self.fields.set_field("pdn_disable", True)
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self.fields.set_field("mstep_reg_select", True)
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self.fields.set_field("multistep_filt", True)
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mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
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self.get_microsteps = mh.get_microsteps
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self.get_phase = mh.get_phase
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tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
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# Allow other registers to be set from the config
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set_config_field = self.fields.set_config_field
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set_config_field(config, "toff", 3)
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set_config_field(config, "hstrt", 5)
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set_config_field(config, "hend", 0)
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set_config_field(config, "TBL", 2)
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set_config_field(config, "IHOLDDELAY", 8)
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set_config_field(config, "TPOWERDOWN", 20)
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set_config_field(config, "PWM_OFS", 36)
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set_config_field(config, "PWM_GRAD", 14)
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "pwm_autograd", True)
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set_config_field(config, "PWM_REG", 8)
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set_config_field(config, "PWM_LIM", 12)
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def read_translate(self, reg_name, val):
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if reg_name == "IOIN":
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drv_type = self.fields.get_field("SEL_A", val)
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reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
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return reg_name, val
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def load_config_prefix(config):
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return TMC2208(config)
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