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tmc2130: Rework remaining config helpers to use mcu_tmc interface

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Introduce TMCMicrostepHelper and TMCStealthchopHelper helper code that
uses the mcu_tmc interface.  Update the callers to use these new
helpers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-06-06 11:20:09 -04:00
committed by KevinOConnor
parent 7f34264101
commit 10c0da9a6c
4 changed files with 58 additions and 76 deletions
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70
klippy/extras/tmc2130.py
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@@ -360,22 +360,45 @@ class TMCCurrentHelper:
# Config reading helpers
######################################################################
def get_config_microsteps(config):
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
return config.getchoice('microsteps', steps)
# Helper to configure and query the microstep settings
class TMCMicrostepHelper:
def __init__(self, config, mcu_tmc):
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = config.getchoice('microsteps', steps)
self.fields.set_field("MRES", mres)
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
field_name = "MSCNT"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
field_name = "MSTEP"
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
mscnt = self.fields.get_field(field_name, reg)
return mscnt >> self.fields.get_field("MRES")
def get_config_stealthchop(config, tmc_freq):
mres = get_config_microsteps(config)
# Helper to configure "stealthchop" mode
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
fields = mcu_tmc.get_fields()
en_pwm_mode = False
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if not velocity:
return mres, False, 0
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << mres)
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
return mres, True, max(0, min(0xfffff, threshold))
if velocity:
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
en_pwm_mode = True
reg = fields.lookup_register("en_pwm_mode", None)
if reg is not None:
fields.set_field("en_pwm_mode", en_pwm_mode)
else:
# TMC2208 uses en_spreadCycle
fields.set_field("en_spreadCycle", not en_pwm_mode)
######################################################################
@@ -413,13 +436,9 @@ class MCU_TMC_SPI:
class TMC2130:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
# Setup mcu communication
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
self.get_register = self.mcu_tmc.get_register
self.set_register = self.mcu_tmc.set_register
# Allow virtual endstop to be created
diag1_pin = config.get('diag1_pin', None)
TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
@@ -428,10 +447,10 @@ class TMC2130:
cmdhelper.setup_register_dump(self.query_registers)
# Setup basic register values
TMCCurrentHelper(config, self.mcu_tmc)
mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_pwm_mode", en_pwm)
self.fields.set_field("TPWMTHRS", thresh)
mh = TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 4)
@@ -447,13 +466,8 @@ class TMC2130:
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "sgt", 0)
def query_registers(self, print_time=0.):
return [(reg_name, self.get_register(reg_name))
return [(reg_name, self.mcu_tmc.get_register(reg_name))
for reg_name in ReadRegisters]
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
return mscnt >> self.fields.get_field("MRES")
def load_config_prefix(config):
return TMC2130(config)