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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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108
klippy/extras/tmc5160.py
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@@ -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)