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tmc: Configurable microstep lookup table (#5920)

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Make all the microstep lookup table registers configurable via the
config file. It also loads the default values.
TMC220x and TMC2660 do not support this feature.

Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
This commit is contained in:
Alex Voinea 2022-12-22 03:23:23 +01:00 • committed by GitHub
parent aac613bf44
commit 9b60daf62d
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 119 additions and 4 deletions
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32
klippy/extras/tmc2130.py
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@ -11,10 +11,12 @@ TMC_FREQUENCY=13200000.
Registers = {
"GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
"TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
"MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
"COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
"PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
"THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61,
"MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65,
"MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69,
"MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c, "COOLCONF": 0x6d,
"DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71,
"ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
}
ReadRegisters = [
@ -45,6 +47,27 @@ Fields["TSTEP"] = { "tstep": 0xfffff }
Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
Fields["THIGH"] = { "thigh": 0xfffff }
Fields["MSLUT0"] = { "mslut0": 0xffffffff }
Fields["MSLUT1"] = { "mslut1": 0xffffffff }
Fields["MSLUT2"] = { "mslut2": 0xffffffff }
Fields["MSLUT3"] = { "mslut3": 0xffffffff }
Fields["MSLUT4"] = { "mslut4": 0xffffffff }
Fields["MSLUT5"] = { "mslut5": 0xffffffff }
Fields["MSLUT6"] = { "mslut6": 0xffffffff }
Fields["MSLUT7"] = { "mslut7": 0xffffffff }
Fields["MSLUTSEL"] = {
"x3": 0xFF << 24,
"x2": 0xFF << 16,
"x1": 0xFF << 8,
"w3": 0x03 << 6,
"w2": 0x03 << 4,
"w1": 0x03 << 2,
"w0": 0x03 << 0,
}
Fields["MSLUTSTART"] = {
"start_sin": 0xFF << 0,
"start_sin90": 0xFF << 16,
}
Fields["MSCNT"] = { "mscnt": 0x3ff }
Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
Fields["CHOPCONF"] = {
@ -268,6 +291,7 @@ class TMC2130:
self.get_phase_offset = cmdhelper.get_phase_offset
self.get_status = cmdhelper.get_status
# Setup basic register values
tmc.TMCWaveTableHelper(config, self.mcu_tmc)
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field