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tmc2130: Share config reading helpers with tmc2208.py code

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Add helper function for reading current, microsteps, and stealthchop
settings from the config file.  Use these helpers in both the tmc2130
and tmc2208 modules.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-02-03 17:32:39 -05:00
parent 0920a518ce
commit d088a7ca72
2 changed files with 57 additions and 76 deletions
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45
klippy/extras/tmc2208.py
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@ -3,7 +3,7 @@
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections
import logging, collections
import tmc2130
TMC_FREQUENCY=12000000.
@ -292,30 +292,14 @@ class TMC2208:
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = config.getchoice('microsteps', steps)
self.fields.set_field("MRES", mres)
# Calculate current
vsense = False
run_current = config.getfloat('run_current', above=0., maxval=2.)
hold_current = config.getfloat('hold_current', run_current,
above=0., maxval=2.)
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
if irun < 16 and ihold < 16:
vsense = True
irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense)
vsense, irun, ihold = tmc2130.get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
# Setup stealthchop
sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity, mres)
self.fields.set_field("en_spreadCycle", not sc_velocity)
self.fields.set_field("TPWMTHRS", sc_threshold)
mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY)
self.fields.set_field("MRES", mres)
self.fields.set_field("en_spreadCycle", not en)
self.fields.set_field("TPWMTHRS", thresh)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
@ -332,23 +316,6 @@ class TMC2208:
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "PWM_REG", 8)
set_config_field(config, "PWM_LIM", 12)
def current_bits(self, current, sense_resistor, vsense_on):
sense_resistor += 0.020
vsense = 0.32
if vsense_on:
vsense = 0.18
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
- 1. + .5)
return max(0, min(31, cs))
def velocity_to_clock(self, config, velocity, mres):
if not velocity:
return 0
stepper_name = config.get_name().split()[1]
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << mres)
threshold = int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
return max(0, min(0xfffff, threshold))
def build_config(self):
bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.)
self.mcu.add_config_cmd(