tmc2660: Use helper functions for register access and simplify TMC2660 parameters

sense_resistor is now a mandatory parameter for tmc2660 blocks. Duet2 users should use a value of 0.051

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>

config/example-extras.cfg

@@ -1050,9 +1050,9 @@
 #run_current:
 #   The amount of current (in ampere) used by the driver during stepper
 #   movement. This parameter must be provided.
-#sense_resistor: 0.051
-#   The resistance (in ohms) of the motor sense resistor. The default
-#   is 0.051 ohms.
+#sense_resistor:
+#   The resistance (in ohms) of the motor sense resistor. This parameter
+#   must be provided.
 #idle_current_percent: 100
 #   The percentage of the run_current the stepper driver will be
 #   lowered to when the idle timeout expires (you need to set up the
@@ -1062,42 +1062,35 @@
 #   their position. There is also small delay until the  current is
 #   raised again, so take this into account when commanding fast moves
 #   while the stepper is idling. The default is 100 (no reduction).
-#driver_DEDGE: False
-#driver_TBL: 36
-#   Valid values are 16, 24, 36, 54.
-#driver_CHM: spreadcycle
-#   Valid values are 'spreadcycle' and 'constant_toff'
-#driver_RNDTF: False
-#driver_HDEC: False
-#driver_HEND: 7 if spreadcycle is used, 3 otherwise
-#driver_HSTRT: 5 if spreadcycle is used, 4 otherwise
-#driver_TOFF: 7 if spreadcycle is used, 4 otherwise
-#driver_SEIMIN: half
-#   Valid values are 'quarter' and 'half'.
-#driver_SEDN: 32
-#   Valid values are 1, 2, 8, 32.
+#driver_DEDGE: 0
+#driver_TBL: 2
+#driver_RNDTF: 0
+#driver_HDEC: 0
+#driver_CHM: 0
+#driver_HEND: 6
+#driver_HSTRT: 3
+#driver_TOFF: 4
+#driver_SEIMIN: 0
+#driver_SEDN: 0
 #driver_SEMAX: 0
-#driver_SEUP: 1
-#   Valid values are 1, 2, 4, 8.
+#driver_SEUP: 0
 #driver_SEMIN: 0
-#driver_SFILT: True
-#driver_SGT: -64
-#driver_SLPH: min
-#   Valid values are 'min', 'min_tc', 'med_tc', 'max'
-#driver_SLPL: min
-#   Valid values are 'min', 'med', 'max'
-#driver_DISS2G: False
-#driver_TS2G: 0.8
-#   Valid values are 0.8, 1.2, 1.6, 3.2.
-#driver_VSENSE: high
-#   Valid values are 'high' and 'low'
+#driver_SFILT: 1
+#driver_SGT: 0
+#driver_SLPH: 0
+#driver_SLPL: 0
+#driver_DISS2G: 0
+#driver_TS2G: 3
+#driver_VSENSE: 1
 #
 #   Set the given parameter during the configuration of the TMC2660
 #   chip. This may be used to set custom driver parameters. The
 #   defaults for each parameter are next to the parameter name in the
 #   list above. See the TMC2660 datasheet about what each parameter
 #   does and what the restrictions on parameter combinations are.
-
+#   Be especially aware of the CHOPCONF register, where setting CHM to
+#   either 0 or one will lead to layout changes (the first bit of HDEC)
+#   is interpreted as the MSB of HSTRT in this case).
 
 # Homing override. One may use this mechanism to run a series of
 # g-code commands in place of a G28 found in the normal g-code input.

config/generic-duet2.cfg

@@ -98,6 +98,7 @@ spi_bus: 1 # All TMC2660 drivers are connected to USART1, which is bus 1 on the
 microsteps: 16
 interpolate: True # 1/16 micro-steps interpolated to 1/256
 run_current: 1.000
+sense_resistor: 0.051
 idle_current_percent: 20
 
 [stepper_y]
@@ -115,6 +116,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 idle_current_percent: 20
 
 [stepper_z]
@@ -132,6 +134,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 #On drive E4
 [stepper_z1]
@@ -146,6 +149,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 #On drive E5
 [stepper_z2]
@@ -160,6 +164,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 #On drive E6
 [stepper_z3]
@@ -174,6 +179,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 #On drive E0
 [extruder0]
@@ -199,6 +205,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 #On drive E1
 [extruder1]
@@ -224,6 +231,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 # On drive E2
 [extruder2]
@@ -249,6 +257,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 # On drive E3
 [extruder3]
@@ -274,6 +283,7 @@ spi_bus: 1
 microsteps: 16
 interpolate: True
 run_current: 1.000
+sense_resistor: 0.051
 
 [heater_bed]
 heater_pin: !PA19