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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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68
klippy/extras/tmc2130.py
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@ -24,7 +24,7 @@ ReadRegisters = [
Fields = {}
Fields["GCONF"] = {
"I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
"i_scale_analog": 1<<0, "internal_rsense": 1<<1, "en_pwm_mode": 1<<2,
"enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
"diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
"diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
@ -34,58 +34,58 @@ Fields["GCONF"] = {
}
Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
Fields["IOIN"] = {
"STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
"DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
"step": 1<<0, "dir": 1<<1, "dcen_cfg4": 1<<2, "dcin_cfg5": 1<<3,
"drv_enn_cfg6": 1<<4, "dco": 1<<5, "version": 0xff << 24
}
Fields["IHOLD_IRUN"] = {
"IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
"ihold": 0x1f << 0, "irun": 0x1f << 8, "iholddelay": 0x0f << 16
}
Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
Fields["TSTEP"] = { "TSTEP": 0xfffff }
Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
Fields["THIGH"] = { "THIGH": 0xfffff }
Fields["MSCNT"] = { "MSCNT": 0x3ff }
Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
Fields["TPOWERDOWN"] = { "tpowerdown": 0xff }
Fields["TSTEP"] = { "tstep": 0xfffff }
Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
Fields["THIGH"] = { "thigh": 0xfffff }
Fields["MSCNT"] = { "mscnt": 0x3ff }
Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
Fields["CHOPCONF"] = {
"toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
"disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "tbl": 0x03 << 15,
"vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
"MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
"mres": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
}
Fields["COOLCONF"] = {
"semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
"seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
}
Fields["DRV_STATUS"] = {
"SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
"stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
"sg_result": 0x3ff, "fsactive": 1<<15, "cs_actual": 0x1f << 16,
"stallguard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
"s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
}
Fields["PWMCONF"] = {
"PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
"pwm_ampl": 0xff, "pwm_grad": 0xff << 8, "pwm_freq": 0x03 << 16,
"pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
}
Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
Fields["PWM_SCALE"] = { "pwm_scale": 0xff }
Fields["LOST_STEPS"] = { "lost_steps": 0xfffff }
SignedFields = ["CUR_A", "CUR_B", "sgt"]
SignedFields = ["cur_a", "cur_b", "sgt"]
FieldFormatters = {
"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" if v else ""),
"reset": (lambda v: "1(Reset)" if v else ""),
"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
"VERSION": (lambda v: "%#x" % v),
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"version": (lambda v: "%#x" % v),
"mres": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
"ot": (lambda v: "1(OvertempError!)" if v else ""),
"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
"CS_ACTUAL": (lambda v: ("%d" % v) if v else "0(Reset?)"),
"cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"),
}
@ -108,8 +108,8 @@ class TMCCurrentHelper:
self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
vsense, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("vsense", vsense)
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 _calc_current_bits(self, current, vsense):
sense_resistor = self.sense_resistor + 0.020
vref = 0.32
@ -137,16 +137,16 @@ class TMCCurrentHelper:
vref = 0.18
return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
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):
vsense, irun, ihold = self._calc_current(run_current, hold_current)
if vsense != self.fields.get_field("vsense"):
val = self.fields.set_field("vsense", vsense)
self.mcu_tmc.set_register("CHOPCONF", val, print_time)
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)
@ -270,11 +270,11 @@ class TMC2130:
set_config_field(config, "toff", 4)
set_config_field(config, "hstrt", 0)
set_config_field(config, "hend", 7)
set_config_field(config, "TBL", 1)
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 0)
set_config_field(config, "PWM_AMPL", 128)
set_config_field(config, "PWM_GRAD", 4)
set_config_field(config, "tbl", 1)
set_config_field(config, "iholddelay", 8)
set_config_field(config, "tpowerdown", 0)
set_config_field(config, "pwm_ampl", 128)
set_config_field(config, "pwm_grad", 4)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "sgt", 0)