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
@@ -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)
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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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"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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"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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"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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"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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"tpowerdown": 0xff
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}
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Fields["TSTEP"] = {
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"TSTEP": 0xfffff
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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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"tpwmthrs": 0xfffff
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}
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Fields["VACTUAL"] = {
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"VACTUAL": 0xffffff
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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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"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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"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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"tbl": 0x03 << 15,
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"vsense": 0x01 << 17,
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"MRES": 0x0f << 24,
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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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@@ -145,34 +145,34 @@ Fields["DRV_STATUS"] = {
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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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"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_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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"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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"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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"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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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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"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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@@ -204,19 +204,19 @@ class TMC2208:
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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, "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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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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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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