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tmc2660: Use bus.py helper code for spi

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-11-18 18:18:25 -05:00
parent 1c71ea27e0
commit 9ba94ded9e
3 changed files with 25 additions and 48 deletions
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39
klippy/extras/tmc2660.py
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@ -3,6 +3,7 @@
# Copyright (C) 2018 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import bus
CURRENT_MAX = 2.4
CURRENT_MIN = 0.1
@ -80,24 +81,7 @@ class TMC2660:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
self.toolhead = None
# Generic setup
ppins = self.printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin(cs_pin)
self.mcu = cs_pin_params['chip']
if cs_pin_params['invert']:
raise pins.error("tmc2660 can not invert pin")
pin = cs_pin_params['pin']
self.oid = self.mcu.create_oid()
self.bus = config.getint('bus', minval=0, maxval=3)
self.freq = config.getint('freq', default=2000000, minval=1000000, maxval=4000000)
self.mcu.add_config_cmd(
"config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
self.oid, self.bus, cs_pin_params['pin'], 0, self.freq))
self.spi_send_cmd = self.spi_transfer_cmd = None
self.mcu.register_config_callback(self.build_config)
self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=2000000)
# Add SET_CURRENT and DUMP_TMC commands
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
@ -213,15 +197,8 @@ class TMC2660:
self.handle_ready)
def add_config_cmd(self, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%06x" % (
self.oid, val & 0xffffff))
def build_config(self):
cmd_queue = self.mcu.alloc_command_queue()
self.spi_send_cmd = self.mcu.lookup_command(
"spi_send oid=%c data=%*s", cq=cmd_queue)
self.spi_transfer_cmd = self.mcu.lookup_command(
"spi_transfer oid=%c data=%*s", cq=cmd_queue)
data = [(val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(data)
def get_microsteps(self):
return 256 >> self.driver_mres
@ -229,7 +206,7 @@ class TMC2660:
def get_phase(self):
# Send DRVCTRL to get a response
reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid)
params = self.spi.spi_transfer(reg_data)
pr = bytearray(params['response'])
steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
return steps >> self.driver_mres
@ -246,8 +223,8 @@ class TMC2660:
reg &= ~(SGCSCONF["CS"][1])
reg |= get_bits(SGCSCONF, "CS", self.driver_cs)
reg_data = [(reg >> 16) & 0xff, (reg >> 8) & 0xff, reg & 0xff]
clock = self.mcu.print_time_to_clock(print_time)
params = self.spi_send_cmd.send([self.oid, reg_data], minclock=clock, reqclock=clock)
clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.spi.spi_send(reg_data, minclock=clock, reqclock=clock)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver (between %d and %d)" % (CURRENT_MIN, CURRENT_MAX)
def cmd_SET_TMC_CURRENT(self, params):
@ -266,7 +243,7 @@ class TMC2660:
gcode.respond_info(msg)
# Send one register to get the return data
reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid)
params = self.spi.spi_transfer(reg_data)
pr = bytearray(params['response'])
msg = "%-15s %08x" % ("RESPONSE:", ((pr[0] << 16) | (pr[1] << 8) | pr[2]))
gcode.respond_info(msg)