tmc2130: Use FieldHelper() to set/get driver fields

Use the field helper to simplify the bit manipulation in the driver.
This also enables the extended DUMP_TMC output.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 106 insertions, 57 deletions

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index 0374a747..80da0614 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -3,12 +3,10 @@
 # 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
+import math, logging, collections
 import bus
 
 TMC_FREQUENCY=13200000.
-GCONF_EN_PWM_MODE=1<<2
-GCONF_DIAG1_STALL=1<<8
 
 Registers = {
     "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
@@ -25,6 +23,69 @@ ReadRegisters = [
 ]
 
 Fields = {}
+Fields["GCONF"] = {
+    "I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
+    "enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
+    "diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
+    "diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
+    "diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
+    "small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
+    "test_mode": 1<<17
+}
+Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
+Fields["IOIN"] = {
+    "STEP": 1<<0, "DIR": 1<<1, "DCEN_CFG4": 1<<2, "DCIN_CFG5": 1<<3,
+    "DRV_ENN_CFG6": 1<<4, "DCO": 1<<5, "VERSION": 0xff << 24
+}
+Fields["IHOLD_IRUN"] = {
+    "IHOLD": 0x1f << 0, "IRUN": 0x1f << 8, "IHOLDDELAY": 0x0f << 16
+}
+Fields["TPOWERDOWN"] = { "TPOWERDOWN": 0xff }
+Fields["TSTEP"] = { "TSTEP": 0xfffff }
+Fields["TPWMTHRS"] = { "TPWMTHRS": 0xfffff }
+Fields["TCOOLTHRS"] = { "TCOOLTHRS": 0xfffff }
+Fields["THIGH"] = { "THIGH": 0xfffff }
+Fields["MSCNT"] = { "MSCNT": 0x3ff }
+Fields["MSCURACT"] = { "CUR_A": 0x1ff, "CUR_B": 0x1ff << 16 }
+Fields["CHOPCONF"] = {
+    "toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
+    "disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "TBL": 0x03 << 15,
+    "vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
+    "MRES": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
+}
+Fields["COOLCONF"] = {
+    "semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
+    "seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
+}
+Fields["DRV_STATUS"] = {
+    "SG_RESULT": 0x3ff, "fsactive": 1<<15, "CS_ACTUAL": 0x1f << 16,
+    "stallGuard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
+    "s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
+}
+Fields["PWMCONF"] = {
+    "PWM_AMPL": 0xff, "PWM_GRAD": 0xff << 8, "pwm_freq": 0x03 << 16,
+    "pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
+}
+Fields["PWM_SCALE"] = { "PWM_SCALE": 0xff }
+Fields["LOST_STEPS"] = { "LOST_STEPS": 0xfffff }
+
+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 ""),
+    "s2ga":             (lambda v: "1(ShortToGND_A!)" if v else ""),
+    "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)),
+}
 
 
 ######################################################################
@@ -155,37 +216,35 @@ class TMC2130:
         gcode.register_mux_command(
             "DUMP_TMC", "STEPPER", self.name,
             self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
-        # Get config for initial driver settings
-        self.fields = FieldHelper(Fields)
-        interpolate = config.getboolean('interpolate', True)
-        self.mres, en_pwm, sc_threshold = get_config_stealthchop(
-            config, TMC_FREQUENCY)
-        iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
-        tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
-        blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
-                                          minval=0, maxval=3)
-        toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
-        hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
-        hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
-        sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
-        pwm_scale = config.getboolean('driver_PWM_AUTOSCALE', True)
-        pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3)
-        pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255)
-        pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255)
+        # Setup basic register values
+        self.regs = collections.OrderedDict()
+        self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
         vsense, irun, ihold = get_config_current(config)
-        # Configure registers
-        self.reg_GCONF = en_pwm << 2
-        self.set_register("GCONF", self.reg_GCONF)
-        self.set_register("CHOPCONF", (
-            toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
-            | (vsense << 17) | (self.mres << 24) | (interpolate << 28)))
-        self.set_register("IHOLD_IRUN",
-                          ihold | (irun << 8) | (iholddelay << 16))
-        self.set_register("TPOWERDOWN", tpowerdown)
-        self.set_register("TPWMTHRS", sc_threshold)
-        self.set_register("COOLCONF", sgt << 16)
-        self.set_register("PWMCONF", (
-            pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
+        self.fields.set_field("vsense", vsense)
+        self.fields.set_field("IHOLD", ihold)
+        self.fields.set_field("IRUN", irun)
+        mres, en_pwm, thresh = get_config_stealthchop(config, TMC_FREQUENCY)
+        self.fields.set_field("MRES", mres)
+        self.fields.set_field("en_pwm_mode", en_pwm)
+        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", 4)
+        set_config_field(config, "hstrt", 0)
+        set_config_field(config, "hend", 7)
+        set_config_field(config, "TBL", 1, "driver_BLANK_TIME_SELECT")
+        set_config_field(config, "intpol", True, "interpolate")
+        set_config_field(config, "IHOLDDELAY", 8)
+        set_config_field(config, "TPOWERDOWN", 0)
+        set_config_field(config, "PWM_AMPL", 128)
+        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)
+        # Send registers
+        for reg_name, val in self.regs.items():
+            self.set_register(reg_name, val)
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc2130 virtual endstop only useful as endstop")
@@ -204,9 +263,10 @@ class TMC2130:
                 (val >> 8) & 0xff, val & 0xff]
         self.spi.spi_send(data)
     def get_microsteps(self):
-        return 256 >> self.mres
+        return 256 >> self.fields.get_field("MRES")
     def get_phase(self):
-        return (self.get_register("MSCNT") & 0x3ff) >> self.mres
+        mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
+        return mscnt >> self.fields.get_field("MRES")
     cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
     def cmd_DUMP_TMC(self, params):
         self.printer.lookup_object('toolhead').get_last_move_time()
@@ -228,6 +288,7 @@ class TMC2130VirtualEndstop:
         self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
         if self.mcu_endstop.get_mcu() is not tmc2130.spi.get_mcu():
             raise pins.error("tmc2130 virtual endstop must be on same mcu")
+        self.en_pwm = tmc2130.fields.get_field("en_pwm_mode")
         # Wrappers
         self.get_mcu = self.mcu_endstop.get_mcu
         self.add_stepper = self.mcu_endstop.add_stepper
@@ -238,14 +299,15 @@ class TMC2130VirtualEndstop:
         self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
         self.TimeoutError = self.mcu_endstop.TimeoutError
     def home_prepare(self):
-        gconf = self.tmc2130.reg_GCONF
-        gconf &= ~GCONF_EN_PWM_MODE
-        gconf |= GCONF_DIAG1_STALL
-        self.tmc2130.set_register("GCONF", gconf)
+        self.tmc2130.fields.set_field("en_pwm_mode", 0)
+        self.tmc2130.fields.set_field("diag1_stall", 1)
+        self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
         self.tmc2130.set_register("TCOOLTHRS", 0xfffff)
         self.mcu_endstop.home_prepare()
     def home_finalize(self):
-        self.tmc2130.set_register("GCONF", self.tmc2130.reg_GCONF)
+        self.tmc2130.fields.set_field("en_pwm_mode", self.en_pwm)
+        self.tmc2130.fields.set_field("diag1_stall", 0)
+        self.tmc2130.set_register("GCONF", self.tmc2130.regs['GCONF'])
         self.tmc2130.set_register("TCOOLTHRS", 0)
         self.mcu_endstop.home_finalize()
 
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index ef476e3b..3057b163 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -168,26 +168,13 @@ Fields["PWM_AUTO"] = {
     "PWM_GRAD_AUTO":       0xff << 16
 }
 
-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 ""),
+FieldFormatters = dict(tmc2130.FieldFormatters)
+FieldFormatters.update({
     "SEL_A":            (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
-    "VERSION":          (lambda v: "%#x" % v),
-    "CUR_A":            (lambda v: str(tmc2130.decode_signed_int(v, 9))),
-    "CUR_B":            (lambda v: str(tmc2130.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 ""),
-    "s2ga":             (lambda v: "1(ShortToGND_A!)" if v else ""),
-    "s2gb":             (lambda v: "1(ShortToGND_B!)" if v else ""),
     "s2vsa":            (lambda v: "1(LowSideShort_A!)" if v else ""),
     "s2vsb":            (lambda v: "1(LowSideShort_B!)" if v else ""),
-    "ola":              (lambda v: "1(OpenLoad_A!)" if v else ""),
-    "olb":              (lambda v: "1(OpenLoad_B!)" if v else ""),
-    "PWM_SCALE_AUTO":   (lambda v: str(tmc2130.decode_signed_int(v, 9)))
-}
+    "PWM_SCALE_AUTO":   (lambda v: tmc2130.decode_signed_int(v, 9))
+})
 
 
 ######################################################################