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tmc: Consistently use lower case for all TMC field names

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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
2021-08-05 14:25:53 -04:00
parent a52a627893
commit 33dcb38297
6 changed files with 253 additions and 253 deletions
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44
klippy/extras/tmc.py
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@@ -96,18 +96,18 @@ class TMCErrorCheck:
self.gstat_reg_info = None
self.clear_gstat = True
# Setup for DRV_STATUS query
self.irun_field = "IRUN"
self.irun_field = "irun"
reg_name = "DRV_STATUS"
mask = err_mask = cs_actual_mask = 0
if name_parts[0] == 'tmc2130':
# TMC2130 driver quirks
self.clear_gstat = False
cs_actual_mask = self.fields.all_fields[reg_name]["CS_ACTUAL"]
cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
elif name_parts[0] == 'tmc2660':
# TMC2660 driver quirks
self.irun_field = "CS"
self.irun_field = "cs"
reg_name = "READRSP@RDSEL2"
cs_actual_mask = self.fields.all_fields[reg_name]["SE"]
cs_actual_mask = self.fields.all_fields[reg_name]["se"]
err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"]
warn_fields = ["otpw", "t120", "t143", "t150", "t157"]
for f in err_fields + warn_fields:
@@ -140,8 +140,8 @@ class TMCErrorCheck:
irun = self.fields.get_field(self.irun_field)
if self.check_timer is None or irun < 4:
break
if (self.irun_field == "IRUN"
and not self.fields.get_field("IHOLD")):
if (self.irun_field == "irun"
and not self.fields.get_field("ihold")):
break
# CS_ACTUAL field of zero - indicates a driver reset
count += 1
@@ -215,7 +215,7 @@ class TMCCommandHelper:
self._init_registers(print_time)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
def cmd_SET_TMC_FIELD(self, gcmd):
field_name = gcmd.get('FIELD')
field_name = gcmd.get('FIELD').lower()
reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None:
raise gcmd.error("Unknown field name '%s'" % (field_name,))
@@ -349,8 +349,8 @@ class TMCVirtualPinHelper:
# Setup for sensorless homing
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
self.en_pwm = not self.fields.get_field("en_spreadCycle")
self.pwmthrs = self.fields.get_field("TPWMTHRS")
self.en_pwm = not self.fields.get_field("en_spreadcycle")
self.pwmthrs = self.fields.get_field("tpwmthrs")
else:
self.en_pwm = self.fields.get_field("en_pwm_mode")
self.pwmthrs = 0
@@ -366,29 +366,29 @@ class TMCVirtualPinHelper:
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
# On "stallguard4" drivers, "stealthchop" must be enabled
tp_val = self.fields.set_field("TPWMTHRS", 0)
tp_val = self.fields.set_field("tpwmthrs", 0)
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
val = self.fields.set_field("en_spreadCycle", 0)
val = self.fields.set_field("en_spreadcycle", 0)
else:
# On earlier drivers, "stealthchop" must be disabled
self.fields.set_field("en_pwm_mode", 0)
val = self.fields.set_field(self.diag_pin_field, 1)
self.mcu_tmc.set_register("GCONF", val)
tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff)
tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
def handle_homing_move_end(self, hmove):
if self.mcu_endstop not in hmove.get_mcu_endstops():
return
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
tp_val = self.fields.set_field("TPWMTHRS", self.pwmthrs)
tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
val = self.fields.set_field("en_spreadcycle", not self.en_pwm)
else:
self.fields.set_field("en_pwm_mode", self.en_pwm)
val = self.fields.set_field(self.diag_pin_field, 0)
self.mcu_tmc.set_register("GCONF", val)
tc_val = self.fields.set_field("TCOOLTHRS", 0)
tc_val = self.fields.set_field("tcoolthrs", 0)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
@@ -410,15 +410,15 @@ class TMCMicrostepHelper:
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = ms_config.getchoice('microsteps', steps)
self.fields.set_field("MRES", mres)
self.fields.set_field("mres", mres)
self.fields.set_field("intpol", config.getboolean("interpolate", True))
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
return 256 >> self.fields.get_field("mres")
def get_phase(self):
field_name = "MSCNT"
field_name = "mscnt"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
field_name = "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 1023 - mscnt, 1024
@@ -432,13 +432,13 @@ def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper.parse_step_distance(stepper_config)
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
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)))
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)
fields.set_field("en_spreadcycle", not en_pwm_mode)