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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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26
klippy/extras/tmc5160.py
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@@ -99,7 +99,7 @@ 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,
@@ -288,13 +288,9 @@ class TMC5160CurrentHelper:
class TMC5160:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
# Setup mcu communication
self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.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)
tmc2130.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
@@ -302,10 +298,12 @@ class TMC5160:
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
# Setup basic register values
msteps, en_pwm, thresh = \
tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
set_config_field = self.fields.set_config_field
mh = tmc2130.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc2130.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# CHOPCONF
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 2)
@@ -316,7 +314,6 @@ class TMC5160:
set_config_field(config, "vhighfs", 0)
set_config_field(config, "vhighchm", 0)
set_config_field(config, "tpfd", 4)
self.fields.set_field("mres", msteps) # microsteps
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "dedge", 0)
set_config_field(config, "diss2g", 0)
@@ -329,8 +326,6 @@ class TMC5160:
set_config_field(config, "seimin", 0)
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# GCONF
self.fields.set_field("en_pwm_mode", en_pwm)
# IHOLDIRUN
TMC5160CurrentHelper(config, self.mcu_tmc)
set_config_field(config, "IHOLDDELAY", 6)
@@ -343,18 +338,11 @@ class TMC5160:
set_config_field(config, "freewheel", 0)
set_config_field(config, "PWM_REG", 4)
set_config_field(config, "PWM_LIM", 12)
# TPWMTHRS
self.fields.set_field("TPWMTHRS", thresh)
# TPOWERDOWN
set_config_field(config, "TPOWERDOWN", 10)
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 TMC5160(config)