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synced 2025-08-08 14:34:06 -06:00
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
parent
a52a627893
commit
33dcb38297
6 changed files with 253 additions and 253 deletions
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@ -99,20 +99,20 @@ Fields["CHOPCONF"] = {
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"vhighfs": 0x01 << 18,
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"vhighchm": 0x01 << 19,
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"tpfd": 0x0F << 20, # midrange resonances
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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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"diss2vs": 0x01 << 31
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}
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Fields["DRV_STATUS"] = {
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"SG_RESULT": 0x3FF << 0,
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"sg_result": 0x3FF << 0,
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"s2vsa": 0x01 << 12,
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"s2vsb": 0x01 << 13,
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"stealth": 0x01 << 14,
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"fsactive": 0x01 << 15,
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"CSACTUAL": 0xFF << 16,
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"stallGuard": 0x01 << 24,
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"csactual": 0xFF << 16,
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"stallguard": 0x01 << 24,
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"ot": 0x01 << 25,
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"otpw": 0x01 << 26,
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"s2ga": 0x01 << 27,
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@ -122,7 +122,7 @@ Fields["DRV_STATUS"] = {
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"stst": 0x01 << 31
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}
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Fields["FACTORY_CONF"] = {
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"FACTORY_CONF": 0x1F << 0
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"factory_conf": 0x1F << 0
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}
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Fields["GCONF"] = {
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"recalibrate": 0x01 << 0,
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@ -150,72 +150,72 @@ Fields["GSTAT"] = {
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"uv_cp": 0x01 << 2
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}
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Fields["GLOBALSCALER"] = {
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"GLOBALSCALER": 0xFF << 0
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"globalscaler": 0xFF << 0
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}
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Fields["IHOLD_IRUN"] = {
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"IHOLD": 0x1F << 0,
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"IRUN": 0x1F << 8,
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"IHOLDDELAY": 0x0F << 16
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"ihold": 0x1F << 0,
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"irun": 0x1F << 8,
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"iholddelay": 0x0F << 16
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}
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Fields["IOIN"] = {
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"REFL_STEP": 0x01 << 0,
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"REFR_DIR": 0x01 << 1,
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"ENCB_DCEN_CFG4": 0x01 << 2,
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"ENCA_DCIN_CFG5": 0x01 << 3,
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"DRV_ENN": 0x01 << 4,
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"ENC_N_DCO_CFG6": 0x01 << 5,
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"SD_MODE": 0x01 << 6,
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"SWCOMP_IN": 0x01 << 7,
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"VERSION": 0xFF << 24
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"refl_step": 0x01 << 0,
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"refr_dir": 0x01 << 1,
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"encb_dcen_cfg4": 0x01 << 2,
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"enca_dcin_cfg5": 0x01 << 3,
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"drv_enn": 0x01 << 4,
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"enc_n_dco_cfg6": 0x01 << 5,
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"sd_mode": 0x01 << 6,
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"swcomp_in": 0x01 << 7,
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"version": 0xFF << 24
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}
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Fields["LOST_STEPS"] = {
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"LOST_STEPS": 0xfffff << 0
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"lost_steps": 0xfffff << 0
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}
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Fields["MSCNT"] = {
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"MSCNT": 0x3ff << 0
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"mscnt": 0x3ff << 0
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}
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Fields["MSCURACT"] = {
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"CUR_A": 0x1ff << 0,
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"CUR_B": 0x1ff << 16
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"cur_a": 0x1ff << 0,
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"cur_b": 0x1ff << 16
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}
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Fields["OTP_READ"] = {
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"OTP_FCLKTRIM": 0x1f << 0,
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"otp_S2_LEVEL": 0x01 << 5,
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"otp_BBM": 0x01 << 6,
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"otp_TBL": 0x01 << 7
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"otp_fclktrim": 0x1f << 0,
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"otp_s2_level": 0x01 << 5,
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"otp_bbm": 0x01 << 6,
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"otp_tbl": 0x01 << 7
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}
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Fields["PWM_AUTO"] = {
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"PWM_OFS_AUTO": 0xff << 0,
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"PWM_GRAD_AUTO": 0xff << 16
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"pwm_ofs_auto": 0xff << 0,
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"pwm_grad_auto": 0xff << 16
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}
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Fields["PWMCONF"] = {
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"PWM_OFS": 0xFF << 0,
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"PWM_GRAD": 0xFF << 8,
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"pwm_ofs": 0xFF << 0,
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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": 0x0F << 24,
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"PWM_LIM": 0x0F << 28
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"pwm_reg": 0x0F << 24,
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"pwm_lim": 0x0F << 28
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}
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Fields["PWM_SCALE"] = {
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"PWM_SCALE_SUM": 0xff << 0,
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"PWM_SCALE_AUTO": 0x1ff << 16
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"pwm_scale_sum": 0xff << 0,
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"pwm_scale_auto": 0x1ff << 16
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}
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Fields["TPOWERDOWN"] = {
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"TPOWERDOWN": 0xff << 0
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"tpowerdown": 0xff << 0
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}
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Fields["TPWMTHRS"] = {
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"TPWMTHRS": 0xfffff << 0
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"tpwmthrs": 0xfffff << 0
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}
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Fields["TCOOLTHRS"] = {
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"TCOOLTHRS": 0xfffff << 0
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"tcoolthrs": 0xfffff << 0
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}
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Fields["TSTEP"] = {
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"TSTEP": 0xfffff << 0
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"tstep": 0xfffff << 0
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}
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SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]
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SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
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FieldFormatters = dict(tmc2130.FieldFormatters)
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@ -240,17 +240,17 @@ class TMC5160CurrentHelper:
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self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
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self._set_globalscaler(run_current)
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irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("IHOLD", ihold)
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self.fields.set_field("IRUN", irun)
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self.fields.set_field("ihold", ihold)
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self.fields.set_field("irun", irun)
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def _set_globalscaler(self, current):
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globalscaler = int((current * 256. * math.sqrt(2.)
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* self.sense_resistor / VREF) + .5)
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globalscaler = max(32, globalscaler)
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if globalscaler >= 256:
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globalscaler = 0
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self.fields.set_field("GLOBALSCALER", globalscaler)
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self.fields.set_field("globalscaler", globalscaler)
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def _calc_current_bits(self, current):
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globalscaler = self.fields.get_field("GLOBALSCALER")
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globalscaler = self.fields.get_field("globalscaler")
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if not globalscaler:
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globalscaler = 256
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cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
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@ -262,20 +262,20 @@ class TMC5160CurrentHelper:
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ihold = self._calc_current_bits(min(hold_current, run_current))
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return irun, ihold
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def _calc_current_from_field(self, field_name):
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globalscaler = self.fields.get_field("GLOBALSCALER")
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globalscaler = self.fields.get_field("globalscaler")
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if not globalscaler:
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globalscaler = 256
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bits = self.fields.get_field(field_name)
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return (globalscaler * (bits + 1) * VREF
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/ (256. * 32. * math.sqrt(2.) * self.sense_resistor))
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def get_current(self):
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run_current = self._calc_current_from_field("IRUN")
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hold_current = self._calc_current_from_field("IHOLD")
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run_current = self._calc_current_from_field("irun")
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hold_current = self._calc_current_from_field("ihold")
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return run_current, hold_current, MAX_CURRENT
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def set_current(self, run_current, hold_current, print_time):
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irun, ihold = self._calc_current(run_current, hold_current)
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self.fields.set_field("IHOLD", ihold)
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val = self.fields.set_field("IRUN", irun)
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self.fields.set_field("ihold", ihold)
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val = self.fields.set_field("irun", irun)
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self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
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@ -322,18 +322,18 @@ class TMC5160:
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set_config_field(config, "sgt", 0)
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set_config_field(config, "sfilt", 0)
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# IHOLDIRUN
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set_config_field(config, "IHOLDDELAY", 6)
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set_config_field(config, "iholddelay", 6)
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# PWMCONF
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set_config_field(config, "PWM_OFS", 30)
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set_config_field(config, "PWM_GRAD", 0)
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set_config_field(config, "pwm_ofs", 30)
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set_config_field(config, "pwm_grad", 0)
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set_config_field(config, "pwm_freq", 0)
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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, "freewheel", 0)
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set_config_field(config, "PWM_REG", 4)
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set_config_field(config, "PWM_LIM", 12)
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set_config_field(config, "pwm_reg", 4)
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set_config_field(config, "pwm_lim", 12)
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# TPOWERDOWN
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set_config_field(config, "TPOWERDOWN", 10)
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set_config_field(config, "tpowerdown", 10)
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def load_config_prefix(config):
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return TMC5160(config)
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