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tmc2130: Add support for two's complement signed fields to FieldHelper

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-29 09:14:21 -04:00
parent 2cff3291c0
commit 6903ab87ca
4 changed files with 31 additions and 24 deletions
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37
klippy/extras/tmc2130.py
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@ -69,14 +69,14 @@ Fields["PWMCONF"] = {
Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
SignedFields = ["CUR_A", "CUR_B", "sgt"]
FieldFormatters = {
"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" 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),
"CUR_A": (lambda v: decode_signed_int(v, 9)),
"CUR_B": (lambda v: decode_signed_int(v, 9)),
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
"ot": (lambda v: "1(OvertempError!)" if v else ""),
@ -84,7 +84,6 @@ FieldFormatters = {
"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 ""),
"sgt": (lambda v: decode_signed_int(v, 7)),
}
@ -96,15 +95,11 @@ FieldFormatters = {
def ffs(mask):
return (mask & -mask).bit_length() - 1
# Decode two's complement signed integer
def decode_signed_int(val, bits):
if ((val >> (bits - 1)) & 1):
return val - (1 << bits)
return val
class FieldHelper:
def __init__(self, all_fields, field_formatters={}, registers=None):
def __init__(self, all_fields, signed_fields=[], field_formatters={},
registers=None):
self.all_fields = all_fields
self.signed_fields = {sf: 1 for sf in signed_fields}
self.field_formatters = field_formatters
self.registers = registers
if self.registers is None:
@ -118,7 +113,10 @@ class FieldHelper:
if reg_value is None:
reg_value = self.registers[reg_name]
mask = self.all_fields[reg_name][field_name]
return (reg_value & mask) >> ffs(mask)
field_value = (reg_value & mask) >> ffs(mask)
if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
field_value -= (1 << field_value.bit_length())
return field_value
def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
# Returns register value with field bits filled with supplied value
if reg_name is None:
@ -138,20 +136,23 @@ class FieldHelper:
maxval = mask >> ffs(mask)
if maxval == 1:
val = config.getboolean(config_name, default)
elif field_name in self.signed_fields:
val = config.getint(config_name, default,
minval=-(maxval//2 + 1), maxval=maxval//2)
else:
val = config.getint(config_name, default, minval=0, maxval=maxval)
return self.set_field(field_name, val)
def pretty_format(self, reg_name, value):
def pretty_format(self, reg_name, reg_value):
# Provide a string description of a register
reg_fields = self.all_fields.get(reg_name, {})
reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
fields = []
for mask, field_name in reg_fields:
fval = (value & mask) >> ffs(mask)
sval = self.field_formatters.get(field_name, str)(fval)
field_value = self.get_field(field_name, reg_value, reg_name)
sval = self.field_formatters.get(field_name, str)(field_value)
if sval and sval != "0":
fields.append(" %s=%s" % (field_name, sval))
return "%-11s %08x%s" % (reg_name + ":", value, "".join(fields))
return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
######################################################################
@ -240,7 +241,8 @@ class TMC2130:
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
# Setup basic register values
self.regs = collections.OrderedDict()
self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
self.fields = FieldHelper(Fields, SignedFields, FieldFormatters,
self.regs)
vsense, irun, ihold, self.sense_resistor = get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
@ -262,8 +264,7 @@ class TMC2130:
set_config_field(config, "PWM_GRAD", 4)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
self.fields.set_field("sgt", sgt)
set_config_field(config, "sgt", 0)
self._init_registers()
def _init_registers(self, min_clock = 0):
# Send registers