tmc: Consistently use lower case for all TMC field names
The Trinamic specs aren't consistent with upper vs lower case, which can be confusing. Improve clarity by using lower case names consistently in the code. Register names will continue to use all upper case naming in the code. Update the SET_TMC_FIELD command to automatically convert field names to lower case. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
a52a627893
commit
33dcb38297
@ -96,18 +96,18 @@ class TMCErrorCheck:
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self.gstat_reg_info = None
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self.clear_gstat = True
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# Setup for DRV_STATUS query
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self.irun_field = "IRUN"
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self.irun_field = "irun"
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reg_name = "DRV_STATUS"
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mask = err_mask = cs_actual_mask = 0
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if name_parts[0] == 'tmc2130':
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# TMC2130 driver quirks
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self.clear_gstat = False
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cs_actual_mask = self.fields.all_fields[reg_name]["CS_ACTUAL"]
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cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
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elif name_parts[0] == 'tmc2660':
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# TMC2660 driver quirks
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self.irun_field = "CS"
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self.irun_field = "cs"
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reg_name = "READRSP@RDSEL2"
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cs_actual_mask = self.fields.all_fields[reg_name]["SE"]
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cs_actual_mask = self.fields.all_fields[reg_name]["se"]
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err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"]
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warn_fields = ["otpw", "t120", "t143", "t150", "t157"]
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for f in err_fields + warn_fields:
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@ -140,8 +140,8 @@ class TMCErrorCheck:
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irun = self.fields.get_field(self.irun_field)
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if self.check_timer is None or irun < 4:
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break
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if (self.irun_field == "IRUN"
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and not self.fields.get_field("IHOLD")):
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if (self.irun_field == "irun"
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and not self.fields.get_field("ihold")):
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break
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# CS_ACTUAL field of zero - indicates a driver reset
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count += 1
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@ -215,7 +215,7 @@ class TMCCommandHelper:
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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, gcmd):
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field_name = gcmd.get('FIELD')
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field_name = gcmd.get('FIELD').lower()
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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 gcmd.error("Unknown field name '%s'" % (field_name,))
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@ -349,8 +349,8 @@ class TMCVirtualPinHelper:
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# Setup for sensorless homing
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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self.en_pwm = not self.fields.get_field("en_spreadCycle")
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self.pwmthrs = self.fields.get_field("TPWMTHRS")
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self.en_pwm = not self.fields.get_field("en_spreadcycle")
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self.pwmthrs = self.fields.get_field("tpwmthrs")
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else:
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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self.pwmthrs = 0
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@ -366,29 +366,29 @@ class TMCVirtualPinHelper:
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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# On "stallguard4" drivers, "stealthchop" must be enabled
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tp_val = self.fields.set_field("TPWMTHRS", 0)
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tp_val = self.fields.set_field("tpwmthrs", 0)
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self.mcu_tmc.set_register("TPWMTHRS", tp_val)
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val = self.fields.set_field("en_spreadCycle", 0)
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val = self.fields.set_field("en_spreadcycle", 0)
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else:
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# On earlier drivers, "stealthchop" must be disabled
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self.fields.set_field("en_pwm_mode", 0)
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val = self.fields.set_field(self.diag_pin_field, 1)
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self.mcu_tmc.set_register("GCONF", val)
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tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff)
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tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
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self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
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def handle_homing_move_end(self, hmove):
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if self.mcu_endstop not in hmove.get_mcu_endstops():
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return
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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tp_val = self.fields.set_field("TPWMTHRS", self.pwmthrs)
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tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
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self.mcu_tmc.set_register("TPWMTHRS", tp_val)
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val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
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val = self.fields.set_field("en_spreadcycle", not self.en_pwm)
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else:
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self.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.fields.set_field(self.diag_pin_field, 0)
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self.mcu_tmc.set_register("GCONF", val)
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tc_val = self.fields.set_field("TCOOLTHRS", 0)
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tc_val = self.fields.set_field("tcoolthrs", 0)
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self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
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@ -410,15 +410,15 @@ class TMCMicrostepHelper:
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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 = ms_config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", mres)
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self.fields.set_field("mres", mres)
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self.fields.set_field("intpol", config.getboolean("interpolate", True))
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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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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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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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 1023 - mscnt, 1024
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@ -432,13 +432,13 @@ def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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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.parse_step_distance(stepper_config)
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step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
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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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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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fields.set_field("en_spreadcycle", not en_pwm_mode)
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@ -24,7 +24,7 @@ ReadRegisters = [
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Fields = {}
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Fields["GCONF"] = {
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"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
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"i_scale_analog": 1<<0, "internal_rsense": 1<<1, "en_pwm_mode": 1<<2,
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"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
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"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
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"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
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@ -34,58 +34,58 @@ Fields["GCONF"] = {
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}
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Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
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Fields["IOIN"] = {
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"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
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"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
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"step": 1<<0, "dir": 1<<1, "dcen_cfg4": 1<<2, "dcin_cfg5": 1<<3,
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"drv_enn_cfg6": 1<<4, "dco": 1<<5, "version": 0xff << 24
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
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"ihold": 0x1f << 0, "irun": 0x1f << 8, "iholddelay": 0x0f << 16
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}
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Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
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Fields["TSTEP"] = { "TSTEP": 0xfffff }
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Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
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Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
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Fields["THIGH"] = { "THIGH": 0xfffff }
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Fields["MSCNT"] = { "MSCNT": 0x3ff }
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Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
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Fields["TPOWERDOWN"] = { "tpowerdown": 0xff }
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Fields["TSTEP"] = { "tstep": 0xfffff }
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Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
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Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
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Fields["THIGH"] = { "thigh": 0xfffff }
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Fields["MSCNT"] = { "mscnt": 0x3ff }
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Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
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Fields["CHOPCONF"] = {
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"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
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"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
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"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "tbl": 0x03 << 15,
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"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
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"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
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"mres": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
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}
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Fields["COOLCONF"] = {
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"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
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"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
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}
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
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"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
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"sg_result": 0x3ff, "fsactive": 1<<15, "cs_actual": 0x1f << 16,
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"stallguard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
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"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
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}
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Fields["PWMCONF"] = {
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"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
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"pwm_ampl": 0xff, "pwm_grad": 0xff << 8, "pwm_freq": 0x03 << 16,
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"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
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}
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Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
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Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
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Fields["PWM_SCALE"] = { "pwm_scale": 0xff }
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Fields["LOST_STEPS"] = { "lost_steps": 0xfffff }
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SignedFields = ["CUR_A", "CUR_B", "sgt"]
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SignedFields = ["cur_a", "cur_b", "sgt"]
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FieldFormatters = {
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"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
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"i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
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"shaft": (lambda v: "1(Reverse)" if v else ""),
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"reset": (lambda v: "1(Reset)" if v else ""),
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"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
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"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
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"VERSION": (lambda v: "%#x" % v),
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"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"version": (lambda v: "%#x" % v),
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"mres": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
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"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
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"ot": (lambda v: "1(OvertempError!)" if v else ""),
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"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
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"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
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"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
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"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
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"CS_ACTUAL": (lambda v: ("%d" % v) if v else "0(Reset?)"),
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"cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"),
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}
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@ -108,8 +108,8 @@ class TMCCurrentHelper:
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self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("vsense", vsense)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.fields.set_field("ihold", ihold)
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self.fields.set_field("irun", irun)
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def _calc_current_bits(self, current, vsense):
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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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@ -137,16 +137,16 @@ class TMCCurrentHelper:
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vref = 0.18
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return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
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def get_current(self):
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run_current = self._calc_current_from_field("IRUN")
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hold_current = self._calc_current_from_field("IHOLD")
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run_current = self._calc_current_from_field("irun")
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hold_current = self._calc_current_from_field("ihold")
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return run_current, hold_current, MAX_CURRENT
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def set_current(self, run_current, hold_current, print_time):
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vsense, irun, ihold = self._calc_current(run_current, hold_current)
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if vsense != self.fields.get_field("vsense"):
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val = self.fields.set_field("vsense", vsense)
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self.mcu_tmc.set_register("CHOPCONF", val, print_time)
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self.fields.set_field("IHOLD", ihold)
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val = self.fields.set_field("IRUN", irun)
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self.fields.set_field("ihold", ihold)
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val = self.fields.set_field("irun", irun)
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self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
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@ -270,11 +270,11 @@ class TMC2130:
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set_config_field(config, "toff", 4)
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set_config_field(config, "hstrt", 0)
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set_config_field(config, "hend", 7)
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set_config_field(config, "TBL", 1)
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set_config_field(config, "IHOLDDELAY", 8)
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set_config_field(config, "TPOWERDOWN", 0)
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set_config_field(config, "PWM_AMPL", 128)
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set_config_field(config, "PWM_GRAD", 4)
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set_config_field(config, "tbl", 1)
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set_config_field(config, "iholddelay", 8)
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set_config_field(config, "tpowerdown", 0)
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set_config_field(config, "pwm_ampl", 128)
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set_config_field(config, "pwm_grad", 4)
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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, "sgt", 0)
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@ -25,9 +25,9 @@ ReadRegisters = [
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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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"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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@ -42,91 +42,91 @@ Fields["GSTAT"] = {
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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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"ifcnt": 0xff
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}
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Fields["SLAVECONF"] = {
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"SENDDELAY": 0x0f << 8
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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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"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_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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"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)
|
||||
# TMC222x (SEL_A == 0)
|
||||
Fields["IOIN@TMC222x"] = {
|
||||
"PDN_UART": 0x01 << 1,
|
||||
"SPREAD": 0x01 << 2,
|
||||
"DIR": 0x01 << 3,
|
||||
"ENN": 0x01 << 4,
|
||||
"STEP": 0x01 << 5,
|
||||
"MS1": 0x01 << 6,
|
||||
"MS2": 0x01 << 7,
|
||||
"SEL_A": 0x01 << 8,
|
||||
"VERSION": 0xff << 24
|
||||
"pdn_uart": 0x01 << 1,
|
||||
"spread": 0x01 << 2,
|
||||
"dir": 0x01 << 3,
|
||||
"enn": 0x01 << 4,
|
||||
"step": 0x01 << 5,
|
||||
"ms1": 0x01 << 6,
|
||||
"ms2": 0x01 << 7,
|
||||
"sel_a": 0x01 << 8,
|
||||
"version": 0xff << 24
|
||||
}
|
||||
# TMC220x (SEL_A == 1)
|
||||
Fields["IOIN@TMC220x"] = {
|
||||
"ENN": 0x01,
|
||||
"MS1": 0x01 << 2,
|
||||
"MS2": 0x01 << 3,
|
||||
"DIAG": 0x01 << 4,
|
||||
"PDN_UART": 0x01 << 6,
|
||||
"STEP": 0x01 << 7,
|
||||
"SEL_A": 0x01 << 8,
|
||||
"DIR": 0x01 << 9,
|
||||
"VERSION": 0xff << 24,
|
||||
"enn": 0x01,
|
||||
"ms1": 0x01 << 2,
|
||||
"ms2": 0x01 << 3,
|
||||
"diag": 0x01 << 4,
|
||||
"pdn_uart": 0x01 << 6,
|
||||
"step": 0x01 << 7,
|
||||
"sel_a": 0x01 << 8,
|
||||
"dir": 0x01 << 9,
|
||||
"version": 0xff << 24,
|
||||
}
|
||||
Fields["FACTORY_CONF"] = {
|
||||
"FCLKTRIM": 0x1f,
|
||||
"OTTRIM": 0x03 << 8
|
||||
"fclktrim": 0x1f,
|
||||
"ottrim": 0x03 << 8
|
||||
}
|
||||
Fields["IHOLD_IRUN"] = {
|
||||
"IHOLD": 0x1f,
|
||||
"IRUN": 0x1f << 8,
|
||||
"IHOLDDELAY": 0x0f << 16
|
||||
"ihold": 0x1f,
|
||||
"irun": 0x1f << 8,
|
||||
"iholddelay": 0x0f << 16
|
||||
}
|
||||
Fields["TPOWERDOWN"] = {
|
||||
"TPOWERDOWN": 0xff
|
||||
"tpowerdown": 0xff
|
||||
}
|
||||
Fields["TSTEP"] = {
|
||||
"TSTEP": 0xfffff
|
||||
"tstep": 0xfffff
|
||||
}
|
||||
Fields["TPWMTHRS"] = {
|
||||
"TPWMTHRS": 0xfffff
|
||||
"tpwmthrs": 0xfffff
|
||||
}
|
||||
Fields["VACTUAL"] = {
|
||||
"VACTUAL": 0xffffff
|
||||
"vactual": 0xffffff
|
||||
}
|
||||
Fields["MSCNT"] = {
|
||||
"MSCNT": 0x3ff
|
||||
"mscnt": 0x3ff
|
||||
}
|
||||
Fields["MSCURACT"] = {
|
||||
"CUR_A": 0x1ff,
|
||||
"CUR_B": 0x1ff << 16
|
||||
"cur_a": 0x1ff,
|
||||
"cur_b": 0x1ff << 16
|
||||
}
|
||||
Fields["CHOPCONF"] = {
|
||||
"toff": 0x0f,
|
||||
"hstrt": 0x07 << 4,
|
||||
"hend": 0x0f << 7,
|
||||
"TBL": 0x03 << 15,
|
||||
"tbl": 0x03 << 15,
|
||||
"vsense": 0x01 << 17,
|
||||
"MRES": 0x0f << 24,
|
||||
"mres": 0x0f << 24,
|
||||
"intpol": 0x01 << 28,
|
||||
"dedge": 0x01 << 29,
|
||||
"diss2g": 0x01 << 30,
|
||||
@ -145,34 +145,34 @@ Fields["DRV_STATUS"] = {
|
||||
"t143": 0x01 << 9,
|
||||
"t150": 0x01 << 10,
|
||||
"t157": 0x01 << 11,
|
||||
"CS_ACTUAL": 0x1f << 16,
|
||||
"cs_actual": 0x1f << 16,
|
||||
"stealth": 0x01 << 30,
|
||||
"stst": 0x01 << 31
|
||||
}
|
||||
Fields["PWMCONF"] = {
|
||||
"PWM_OFS": 0xff,
|
||||
"PWM_GRAD": 0xff << 8,
|
||||
"pwm_ofs": 0xff,
|
||||
"pwm_grad": 0xff << 8,
|
||||
"pwm_freq": 0x03 << 16,
|
||||
"pwm_autoscale": 0x01 << 18,
|
||||
"pwm_autograd": 0x01 << 19,
|
||||
"freewheel": 0x03 << 20,
|
||||
"PWM_REG": 0xf << 24,
|
||||
"PWM_LIM": 0xf << 28
|
||||
"pwm_reg": 0xf << 24,
|
||||
"pwm_lim": 0xf << 28
|
||||
}
|
||||
Fields["PWM_SCALE"] = {
|
||||
"PWM_SCALE_SUM": 0xff,
|
||||
"PWM_SCALE_AUTO": 0x1ff << 16
|
||||
"pwm_scale_sum": 0xff,
|
||||
"pwm_scale_auto": 0x1ff << 16
|
||||
}
|
||||
Fields["PWM_AUTO"] = {
|
||||
"PWM_OFS_AUTO": 0xff,
|
||||
"PWM_GRAD_AUTO": 0xff << 16
|
||||
"pwm_ofs_auto": 0xff,
|
||||
"pwm_grad_auto": 0xff << 16
|
||||
}
|
||||
|
||||
SignedFields = ["CUR_A", "CUR_B", "PWM_SCALE_AUTO"]
|
||||
SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"]
|
||||
|
||||
FieldFormatters = dict(tmc2130.FieldFormatters)
|
||||
FieldFormatters.update({
|
||||
"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
|
||||
"sel_a": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
|
||||
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
|
||||
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
|
||||
})
|
||||
@ -204,19 +204,19 @@ class TMC2208:
|
||||
set_config_field(config, "toff", 3)
|
||||
set_config_field(config, "hstrt", 5)
|
||||
set_config_field(config, "hend", 0)
|
||||
set_config_field(config, "TBL", 2)
|
||||
set_config_field(config, "IHOLDDELAY", 8)
|
||||
set_config_field(config, "TPOWERDOWN", 20)
|
||||
set_config_field(config, "PWM_OFS", 36)
|
||||
set_config_field(config, "PWM_GRAD", 14)
|
||||
set_config_field(config, "tbl", 2)
|
||||
set_config_field(config, "iholddelay", 8)
|
||||
set_config_field(config, "tpowerdown", 20)
|
||||
set_config_field(config, "pwm_ofs", 36)
|
||||
set_config_field(config, "pwm_grad", 14)
|
||||
set_config_field(config, "pwm_freq", 1)
|
||||
set_config_field(config, "pwm_autoscale", True)
|
||||
set_config_field(config, "pwm_autograd", True)
|
||||
set_config_field(config, "PWM_REG", 8)
|
||||
set_config_field(config, "PWM_LIM", 12)
|
||||
set_config_field(config, "pwm_reg", 8)
|
||||
set_config_field(config, "pwm_lim", 12)
|
||||
def read_translate(self, reg_name, val):
|
||||
if reg_name == "IOIN":
|
||||
drv_type = self.fields.get_field("SEL_A", val)
|
||||
drv_type = self.fields.get_field("sel_a", val)
|
||||
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
|
||||
return reg_name, val
|
||||
|
||||
|
||||
@ -26,24 +26,24 @@ Fields["COOLCONF"] = {
|
||||
"seimin": 0x01 << 15
|
||||
}
|
||||
Fields["IOIN"] = {
|
||||
"ENN": 0x01 << 0,
|
||||
"MS1": 0x01 << 2,
|
||||
"MS2": 0x01 << 3,
|
||||
"DIAG": 0x01 << 4,
|
||||
"PDN_UART": 0x01 << 6,
|
||||
"STEP": 0x01 << 7,
|
||||
"SPREAD_EN": 0x01 << 8,
|
||||
"DIR": 0x01 << 9,
|
||||
"VERSION": 0xff << 24
|
||||
"enn": 0x01 << 0,
|
||||
"ms1": 0x01 << 2,
|
||||
"ms2": 0x01 << 3,
|
||||
"diag": 0x01 << 4,
|
||||
"pdn_uart": 0x01 << 6,
|
||||
"step": 0x01 << 7,
|
||||
"spread_en": 0x01 << 8,
|
||||
"dir": 0x01 << 9,
|
||||
"version": 0xff << 24
|
||||
}
|
||||
Fields["SGTHRS"] = {
|
||||
"SGTHRS": 0xFF << 0
|
||||
"sgthrs": 0xFF << 0
|
||||
}
|
||||
Fields["SG_RESULT"] = {
|
||||
"SG_RESULT": 0x3FF << 0
|
||||
"sg_result": 0x3FF << 0
|
||||
}
|
||||
Fields["TCOOLTHRS"] = {
|
||||
"TCOOLTHRS": 0xfffff
|
||||
"tcoolthrs": 0xfffff
|
||||
}
|
||||
|
||||
FieldFormatters = dict(tmc2208.FieldFormatters)
|
||||
@ -61,7 +61,7 @@ class TMC2209:
|
||||
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
|
||||
# Setup fields for UART
|
||||
self.fields.set_field("pdn_disable", True)
|
||||
self.fields.set_field("SENDDELAY", 2) # Avoid tx errors on shared uart
|
||||
self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
|
||||
# Allow virtual pins to be created
|
||||
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
|
||||
# Register commands
|
||||
@ -81,17 +81,17 @@ class TMC2209:
|
||||
set_config_field(config, "toff", 3)
|
||||
set_config_field(config, "hstrt", 5)
|
||||
set_config_field(config, "hend", 0)
|
||||
set_config_field(config, "TBL", 2)
|
||||
set_config_field(config, "IHOLDDELAY", 8)
|
||||
set_config_field(config, "TPOWERDOWN", 20)
|
||||
set_config_field(config, "PWM_OFS", 36)
|
||||
set_config_field(config, "PWM_GRAD", 14)
|
||||
set_config_field(config, "tbl", 2)
|
||||
set_config_field(config, "iholddelay", 8)
|
||||
set_config_field(config, "tpowerdown", 20)
|
||||
set_config_field(config, "pwm_ofs", 36)
|
||||
set_config_field(config, "pwm_grad", 14)
|
||||
set_config_field(config, "pwm_freq", 1)
|
||||
set_config_field(config, "pwm_autoscale", True)
|
||||
set_config_field(config, "pwm_autograd", True)
|
||||
set_config_field(config, "PWM_REG", 8)
|
||||
set_config_field(config, "PWM_LIM", 12)
|
||||
set_config_field(config, "SGTHRS", 0)
|
||||
set_config_field(config, "pwm_reg", 8)
|
||||
set_config_field(config, "pwm_lim", 12)
|
||||
set_config_field(config, "sgthrs", 0)
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC2209(config)
|
||||
|
||||
@ -17,19 +17,19 @@ ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
|
||||
Fields = {}
|
||||
|
||||
Fields["DRVCTRL"] = {
|
||||
"MRES": 0x0f,
|
||||
"DEDGE": 0x01 << 8,
|
||||
"mres": 0x0f,
|
||||
"dedge": 0x01 << 8,
|
||||
"intpol": 0x01 << 9,
|
||||
}
|
||||
|
||||
Fields["CHOPCONF"] = {
|
||||
"toff": 0x0f,
|
||||
"HSTRT": 0x7 << 4,
|
||||
"HEND": 0x0f << 7,
|
||||
"HDEC": 0x03 << 11,
|
||||
"RNDTF": 0x01 << 13,
|
||||
"CHM": 0x01 << 14,
|
||||
"TBL": 0x03 << 15
|
||||
"hstrt": 0x7 << 4,
|
||||
"hend": 0x0f << 7,
|
||||
"hdec": 0x03 << 11,
|
||||
"rndtf": 0x01 << 13,
|
||||
"chm": 0x01 << 14,
|
||||
"tbl": 0x03 << 15
|
||||
}
|
||||
|
||||
Fields["SMARTEN"] = {
|
||||
@ -41,24 +41,24 @@ Fields["SMARTEN"] = {
|
||||
}
|
||||
|
||||
Fields["SGCSCONF"] = {
|
||||
"CS": 0x1f,
|
||||
"cs": 0x1f,
|
||||
"sgt": 0x7F << 8,
|
||||
"sfilt": 0x01 << 16
|
||||
}
|
||||
|
||||
Fields["DRVCONF"] = {
|
||||
"RDSEL": 0x03 << 4,
|
||||
"VSENSE": 0x01 << 6,
|
||||
"SDOFF": 0x01 << 7,
|
||||
"TS2G": 0x03 << 8,
|
||||
"DISS2G": 0x01 << 10,
|
||||
"SLPL": 0x03 << 12,
|
||||
"SLPH": 0x03 << 14,
|
||||
"TST": 0x01 << 16
|
||||
"rdsel": 0x03 << 4,
|
||||
"vsense": 0x01 << 6,
|
||||
"sdoff": 0x01 << 7,
|
||||
"ts2g": 0x03 << 8,
|
||||
"diss2g": 0x01 << 10,
|
||||
"slpl": 0x03 << 12,
|
||||
"slph": 0x03 << 14,
|
||||
"tst": 0x01 << 16
|
||||
}
|
||||
|
||||
Fields["READRSP@RDSEL0"] = {
|
||||
"stallGuard": 0x01 << 4,
|
||||
"stallguard": 0x01 << 4,
|
||||
"ot": 0x01 << 5,
|
||||
"otpw": 0x01 << 6,
|
||||
"s2ga": 0x01 << 7,
|
||||
@ -66,11 +66,11 @@ Fields["READRSP@RDSEL0"] = {
|
||||
"ola": 0x01 << 9,
|
||||
"olb": 0x01 << 10,
|
||||
"stst": 0x01 << 11,
|
||||
"MSTEP": 0x3ff << 14
|
||||
"mstep": 0x3ff << 14
|
||||
}
|
||||
|
||||
Fields["READRSP@RDSEL1"] = {
|
||||
"stallGuard": 0x01 << 4,
|
||||
"stallguard": 0x01 << 4,
|
||||
"ot": 0x01 << 5,
|
||||
"otpw": 0x01 << 6,
|
||||
"s2ga": 0x01 << 7,
|
||||
@ -78,11 +78,11 @@ Fields["READRSP@RDSEL1"] = {
|
||||
"ola": 0x01 << 9,
|
||||
"olb": 0x01 << 10,
|
||||
"stst": 0x01 << 11,
|
||||
"SG_RESULT": 0x3ff << 14
|
||||
"sg_result": 0x3ff << 14
|
||||
}
|
||||
|
||||
Fields["READRSP@RDSEL2"] = {
|
||||
"stallGuard": 0x01 << 4,
|
||||
"stallguard": 0x01 << 4,
|
||||
"ot": 0x01 << 5,
|
||||
"otpw": 0x01 << 6,
|
||||
"s2ga": 0x01 << 7,
|
||||
@ -90,20 +90,20 @@ Fields["READRSP@RDSEL2"] = {
|
||||
"ola": 0x01 << 9,
|
||||
"olb": 0x01 << 10,
|
||||
"stst": 0x01 << 11,
|
||||
"SE": 0x1f << 14,
|
||||
"SG_RESULT@RDSEL2": 0x1f << 19
|
||||
"se": 0x1f << 14,
|
||||
"sg_result@rdsel2": 0x1f << 19
|
||||
}
|
||||
|
||||
SignedFields = ["sgt"]
|
||||
|
||||
FieldFormatters = dict(tmc2130.FieldFormatters)
|
||||
FieldFormatters.update({
|
||||
"DEDGE": (lambda v: "1(Both Edges Active!)" if v else ""),
|
||||
"CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
|
||||
"VSENSE": (lambda v: "1(165mV)" if v else "0(305mV)"),
|
||||
"SDOFF": (lambda v: "1(Step/Dir disabled!)" if v else ""),
|
||||
"DISS2G": (lambda v: "1(Short to GND disabled!)" if v else ""),
|
||||
"SE": (lambda v: ("%d" % v) if v else "0(Reset?)"),
|
||||
"dedge": (lambda v: "1(Both Edges Active!)" if v else ""),
|
||||
"chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
|
||||
"vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
|
||||
"sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),
|
||||
"diss2g": (lambda v: "1(Short to GND disabled!)" if v else ""),
|
||||
"se": (lambda v: ("%d" % v) if v else "0(Reset?)"),
|
||||
})
|
||||
|
||||
|
||||
@ -123,8 +123,8 @@ class TMC2660CurrentHelper:
|
||||
maxval=MAX_CURRENT)
|
||||
self.sense_resistor = config.getfloat('sense_resistor')
|
||||
vsense, cs = self._calc_current(self.current)
|
||||
self.fields.set_field("CS", cs)
|
||||
self.fields.set_field("VSENSE", vsense)
|
||||
self.fields.set_field("cs", cs)
|
||||
self.fields.set_field("vsense", vsense)
|
||||
|
||||
# Register ready/printing handlers
|
||||
self.idle_current_percentage = config.getint(
|
||||
@ -161,11 +161,11 @@ class TMC2660CurrentHelper:
|
||||
|
||||
def _update_current(self, current, print_time):
|
||||
vsense, cs = self._calc_current(current)
|
||||
val = self.fields.set_field("CS", cs)
|
||||
val = self.fields.set_field("cs", cs)
|
||||
self.mcu_tmc.set_register("SGCSCONF", val, print_time)
|
||||
# Only update VSENSE if we need to
|
||||
if vsense != self.fields.get_field("VSENSE"):
|
||||
val = self.fields.set_field("VSENSE", vsense)
|
||||
if vsense != self.fields.get_field("vsense"):
|
||||
val = self.fields.set_field("vsense", vsense)
|
||||
self.mcu_tmc.set_register("DRVCONF", val, print_time)
|
||||
|
||||
def get_current(self):
|
||||
@ -196,8 +196,8 @@ class MCU_TMC2660_SPI:
|
||||
if self.printer.get_start_args().get('debugoutput') is not None:
|
||||
return 0
|
||||
with self.mutex:
|
||||
old_rdsel = self.fields.get_field("RDSEL")
|
||||
val = self.fields.set_field("RDSEL", new_rdsel)
|
||||
old_rdsel = self.fields.get_field("rdsel")
|
||||
val = self.fields.set_field("rdsel", new_rdsel)
|
||||
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
|
||||
if new_rdsel != old_rdsel:
|
||||
# Must set RDSEL value first
|
||||
@ -223,7 +223,7 @@ class TMC2660:
|
||||
def __init__(self, config):
|
||||
# Setup mcu communication
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
|
||||
self.fields.set_field("sdoff", 0) # Access DRVCTRL in step/dir mode
|
||||
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
|
||||
# Register commands
|
||||
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
|
||||
@ -236,16 +236,16 @@ class TMC2660:
|
||||
self.get_phase = mh.get_phase
|
||||
# CHOPCONF
|
||||
set_config_field = self.fields.set_config_field
|
||||
set_config_field(config, "TBL", 2)
|
||||
set_config_field(config, "RNDTF", 0)
|
||||
set_config_field(config, "HDEC", 0)
|
||||
set_config_field(config, "CHM", 0)
|
||||
set_config_field(config, "HEND", 3)
|
||||
set_config_field(config, "HSTRT", 3)
|
||||
set_config_field(config, "tbl", 2)
|
||||
set_config_field(config, "rndtf", 0)
|
||||
set_config_field(config, "hdec", 0)
|
||||
set_config_field(config, "chm", 0)
|
||||
set_config_field(config, "hend", 3)
|
||||
set_config_field(config, "hstrt", 3)
|
||||
set_config_field(config, "toff", 4)
|
||||
if not self.fields.get_field("CHM"):
|
||||
if (self.fields.get_field("HSTRT") +
|
||||
self.fields.get_field("HEND")) > 15:
|
||||
if not self.fields.get_field("chm"):
|
||||
if (self.fields.get_field("hstrt") +
|
||||
self.fields.get_field("hend")) > 15:
|
||||
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
|
||||
# SMARTEN
|
||||
set_config_field(config, "seimin", 0)
|
||||
@ -259,10 +259,10 @@ class TMC2660:
|
||||
set_config_field(config, "sgt", 0)
|
||||
|
||||
# DRVCONF
|
||||
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, "slph", 0)
|
||||
set_config_field(config, "slpl", 0)
|
||||
set_config_field(config, "diss2g", 0)
|
||||
set_config_field(config, "ts2g", 3)
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC2660(config)
|
||||
|
||||
@ -99,20 +99,20 @@ Fields["CHOPCONF"] = {
|
||||
"vhighfs": 0x01 << 18,
|
||||
"vhighchm": 0x01 << 19,
|
||||
"tpfd": 0x0F << 20, # midrange resonances
|
||||
"MRES": 0x0F << 24,
|
||||
"mres": 0x0F << 24,
|
||||
"intpol": 0x01 << 28,
|
||||
"dedge": 0x01 << 29,
|
||||
"diss2g": 0x01 << 30,
|
||||
"diss2vs": 0x01 << 31
|
||||
}
|
||||
Fields["DRV_STATUS"] = {
|
||||
"SG_RESULT": 0x3FF << 0,
|
||||
"sg_result": 0x3FF << 0,
|
||||
"s2vsa": 0x01 << 12,
|
||||
"s2vsb": 0x01 << 13,
|
||||
"stealth": 0x01 << 14,
|
||||
"fsactive": 0x01 << 15,
|
||||
"CSACTUAL": 0xFF << 16,
|
||||
"stallGuard": 0x01 << 24,
|
||||
"csactual": 0xFF << 16,
|
||||
"stallguard": 0x01 << 24,
|
||||
"ot": 0x01 << 25,
|
||||
"otpw": 0x01 << 26,
|
||||
"s2ga": 0x01 << 27,
|
||||
@ -122,7 +122,7 @@ Fields["DRV_STATUS"] = {
|
||||
"stst": 0x01 << 31
|
||||
}
|
||||
Fields["FACTORY_CONF"] = {
|
||||
"FACTORY_CONF": 0x1F << 0
|
||||
"factory_conf": 0x1F << 0
|
||||
}
|
||||
Fields["GCONF"] = {
|
||||
"recalibrate": 0x01 << 0,
|
||||
@ -150,72 +150,72 @@ Fields["GSTAT"] = {
|
||||
"uv_cp": 0x01 << 2
|
||||
}
|
||||
Fields["GLOBALSCALER"] = {
|
||||
"GLOBALSCALER": 0xFF << 0
|
||||
"globalscaler": 0xFF << 0
|
||||
}
|
||||
Fields["IHOLD_IRUN"] = {
|
||||
"IHOLD": 0x1F << 0,
|
||||
"IRUN": 0x1F << 8,
|
||||
"IHOLDDELAY": 0x0F << 16
|
||||
"ihold": 0x1F << 0,
|
||||
"irun": 0x1F << 8,
|
||||
"iholddelay": 0x0F << 16
|
||||
}
|
||||
Fields["IOIN"] = {
|
||||
"REFL_STEP": 0x01 << 0,
|
||||
"REFR_DIR": 0x01 << 1,
|
||||
"ENCB_DCEN_CFG4": 0x01 << 2,
|
||||
"ENCA_DCIN_CFG5": 0x01 << 3,
|
||||
"DRV_ENN": 0x01 << 4,
|
||||
"ENC_N_DCO_CFG6": 0x01 << 5,
|
||||
"SD_MODE": 0x01 << 6,
|
||||
"SWCOMP_IN": 0x01 << 7,
|
||||
"VERSION": 0xFF << 24
|
||||
"refl_step": 0x01 << 0,
|
||||
"refr_dir": 0x01 << 1,
|
||||
"encb_dcen_cfg4": 0x01 << 2,
|
||||
"enca_dcin_cfg5": 0x01 << 3,
|
||||
"drv_enn": 0x01 << 4,
|
||||
"enc_n_dco_cfg6": 0x01 << 5,
|
||||
"sd_mode": 0x01 << 6,
|
||||
"swcomp_in": 0x01 << 7,
|
||||
"version": 0xFF << 24
|
||||
}
|
||||
Fields["LOST_STEPS"] = {
|
||||
"LOST_STEPS": 0xfffff << 0
|
||||
"lost_steps": 0xfffff << 0
|
||||
}
|
||||
Fields["MSCNT"] = {
|
||||
"MSCNT": 0x3ff << 0
|
||||
"mscnt": 0x3ff << 0
|
||||
}
|
||||
Fields["MSCURACT"] = {
|
||||
"CUR_A": 0x1ff << 0,
|
||||
"CUR_B": 0x1ff << 16
|
||||
"cur_a": 0x1ff << 0,
|
||||
"cur_b": 0x1ff << 16
|
||||
}
|
||||
Fields["OTP_READ"] = {
|
||||
"OTP_FCLKTRIM": 0x1f << 0,
|
||||
"otp_S2_LEVEL": 0x01 << 5,
|
||||
"otp_BBM": 0x01 << 6,
|
||||
"otp_TBL": 0x01 << 7
|
||||
"otp_fclktrim": 0x1f << 0,
|
||||
"otp_s2_level": 0x01 << 5,
|
||||
"otp_bbm": 0x01 << 6,
|
||||
"otp_tbl": 0x01 << 7
|
||||
}
|
||||
Fields["PWM_AUTO"] = {
|
||||
"PWM_OFS_AUTO": 0xff << 0,
|
||||
"PWM_GRAD_AUTO": 0xff << 16
|
||||
"pwm_ofs_auto": 0xff << 0,
|
||||
"pwm_grad_auto": 0xff << 16
|
||||
}
|
||||
Fields["PWMCONF"] = {
|
||||
"PWM_OFS": 0xFF << 0,
|
||||
"PWM_GRAD": 0xFF << 8,
|
||||
"pwm_ofs": 0xFF << 0,
|
||||
"pwm_grad": 0xFF << 8,
|
||||
"pwm_freq": 0x03 << 16,
|
||||
"pwm_autoscale": 0x01 << 18,
|
||||
"pwm_autograd": 0x01 << 19,
|
||||
"freewheel": 0x03 << 20,
|
||||
"PWM_REG": 0x0F << 24,
|
||||
"PWM_LIM": 0x0F << 28
|
||||
"pwm_reg": 0x0F << 24,
|
||||
"pwm_lim": 0x0F << 28
|
||||
}
|
||||
Fields["PWM_SCALE"] = {
|
||||
"PWM_SCALE_SUM": 0xff << 0,
|
||||
"PWM_SCALE_AUTO": 0x1ff << 16
|
||||
"pwm_scale_sum": 0xff << 0,
|
||||
"pwm_scale_auto": 0x1ff << 16
|
||||
}
|
||||
Fields["TPOWERDOWN"] = {
|
||||
"TPOWERDOWN": 0xff << 0
|
||||
"tpowerdown": 0xff << 0
|
||||
}
|
||||
Fields["TPWMTHRS"] = {
|
||||
"TPWMTHRS": 0xfffff << 0
|
||||
"tpwmthrs": 0xfffff << 0
|
||||
}
|
||||
Fields["TCOOLTHRS"] = {
|
||||
"TCOOLTHRS": 0xfffff << 0
|
||||
"tcoolthrs": 0xfffff << 0
|
||||
}
|
||||
Fields["TSTEP"] = {
|
||||
"TSTEP": 0xfffff << 0
|
||||
"tstep": 0xfffff << 0
|
||||
}
|
||||
|
||||
SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]
|
||||
SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
|
||||
|
||||
FieldFormatters = dict(tmc2130.FieldFormatters)
|
||||
|
||||
@ -240,17 +240,17 @@ class TMC5160CurrentHelper:
|
||||
self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
|
||||
self._set_globalscaler(run_current)
|
||||
irun, ihold = self._calc_current(run_current, hold_current)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
self.fields.set_field("IRUN", irun)
|
||||
self.fields.set_field("ihold", ihold)
|
||||
self.fields.set_field("irun", irun)
|
||||
def _set_globalscaler(self, current):
|
||||
globalscaler = int((current * 256. * math.sqrt(2.)
|
||||
* self.sense_resistor / VREF) + .5)
|
||||
globalscaler = max(32, globalscaler)
|
||||
if globalscaler >= 256:
|
||||
globalscaler = 0
|
||||
self.fields.set_field("GLOBALSCALER", globalscaler)
|
||||
self.fields.set_field("globalscaler", globalscaler)
|
||||
def _calc_current_bits(self, current):
|
||||
globalscaler = self.fields.get_field("GLOBALSCALER")
|
||||
globalscaler = self.fields.get_field("globalscaler")
|
||||
if not globalscaler:
|
||||
globalscaler = 256
|
||||
cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
|
||||
@ -262,20 +262,20 @@ class TMC5160CurrentHelper:
|
||||
ihold = self._calc_current_bits(min(hold_current, run_current))
|
||||
return irun, ihold
|
||||
def _calc_current_from_field(self, field_name):
|
||||
globalscaler = self.fields.get_field("GLOBALSCALER")
|
||||
globalscaler = self.fields.get_field("globalscaler")
|
||||
if not globalscaler:
|
||||
globalscaler = 256
|
||||
bits = self.fields.get_field(field_name)
|
||||
return (globalscaler * (bits + 1) * VREF
|
||||
/ (256. * 32. * math.sqrt(2.) * self.sense_resistor))
|
||||
def get_current(self):
|
||||
run_current = self._calc_current_from_field("IRUN")
|
||||
hold_current = self._calc_current_from_field("IHOLD")
|
||||
run_current = self._calc_current_from_field("irun")
|
||||
hold_current = self._calc_current_from_field("ihold")
|
||||
return run_current, hold_current, MAX_CURRENT
|
||||
def set_current(self, run_current, hold_current, print_time):
|
||||
irun, ihold = self._calc_current(run_current, hold_current)
|
||||
self.fields.set_field("IHOLD", ihold)
|
||||
val = self.fields.set_field("IRUN", irun)
|
||||
self.fields.set_field("ihold", ihold)
|
||||
val = self.fields.set_field("irun", irun)
|
||||
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
|
||||
|
||||
|
||||
@ -322,18 +322,18 @@ class TMC5160:
|
||||
set_config_field(config, "sgt", 0)
|
||||
set_config_field(config, "sfilt", 0)
|
||||
# IHOLDIRUN
|
||||
set_config_field(config, "IHOLDDELAY", 6)
|
||||
set_config_field(config, "iholddelay", 6)
|
||||
# PWMCONF
|
||||
set_config_field(config, "PWM_OFS", 30)
|
||||
set_config_field(config, "PWM_GRAD", 0)
|
||||
set_config_field(config, "pwm_ofs", 30)
|
||||
set_config_field(config, "pwm_grad", 0)
|
||||
set_config_field(config, "pwm_freq", 0)
|
||||
set_config_field(config, "pwm_autoscale", True)
|
||||
set_config_field(config, "pwm_autograd", True)
|
||||
set_config_field(config, "freewheel", 0)
|
||||
set_config_field(config, "PWM_REG", 4)
|
||||
set_config_field(config, "PWM_LIM", 12)
|
||||
set_config_field(config, "pwm_reg", 4)
|
||||
set_config_field(config, "pwm_lim", 12)
|
||||
# TPOWERDOWN
|
||||
set_config_field(config, "TPOWERDOWN", 10)
|
||||
set_config_field(config, "tpowerdown", 10)
|
||||
|
||||
def load_config_prefix(config):
|
||||
return TMC5160(config)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user