tmc2130: Minor code cleanup

Rework the code to use set_register() with the string name of the
desired register to set.  Add a get_register() method.

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

1 files changed, 58 insertions, 53 deletions

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index 949145f2..775a685f 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -6,19 +6,23 @@
 import math, logging
 
 TMC_FREQUENCY=13200000.
-REG_GCONF=0x00
 GCONF_EN_PWM_MODE=1<<2
 GCONF_DIAG1_STALL=1<<8
-REG_TCOOLTHRS=0x14
-REG_COOLCONF=0x6d
-REG_PWMCONF=0x70
 
-ReadRegisters = {
-    0x00: "GCONF", 0x01: "GSTAT", 0x04: "IOIN", 0x12: "TSTEP", 0x2d: "XDIRECT",
-    0x6a: "MSCNT", 0x6b: "MSCURACT", 0x6c: "CHOPCONF", 0x6f: "DRV_STATUS",
-    0x71: "PWM_SCALE", 0x73: "LOST_STEPS"
+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,
 }
 
+ReadRegisters = [
+    "GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
+    "CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
+]
+
 class TMC2130:
     def __init__(self, config):
         self.printer = config.get_printer()
@@ -30,15 +34,20 @@ class TMC2130:
         self.mcu = cs_pin_params['chip']
         pin = cs_pin_params['pin']
         self.oid = self.mcu.create_oid()
+        self.mcu.add_config_cmd(
+            "config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
+                self.oid, 0, cs_pin_params['pin'], 3, 4000000))
+        self.spi_send_cmd = self.spi_transfer_cmd = None
+        self.mcu.add_config_object(self)
+        # Allow virtual endstop to be created
+        self.diag1_pin = config.get('diag1_pin', None)
+        ppins.register_chip("tmc2130_" + self.name, self)
         # Add DUMP_TMC command
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command(
             "DUMP_TMC", "STEPPER", self.name,
             self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
-        # Setup driver registers
-        self.mcu.add_config_cmd(
-            "config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % (
-                self.oid, 0, cs_pin_params['pin'], 3, 4000000))
+        # Get config for initial driver settings
         run_current = config.getfloat('run_current', above=0., maxval=2.)
         hold_current = config.getfloat('hold_current', run_current,
                                        above=0., maxval=2.)
@@ -61,11 +70,6 @@ class TMC2130:
         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)
-        # Allow virtual endstop to be created
-        self.diag1_pin = config.get('diag1_pin', None)
-        ppins.register_chip("tmc2130_" + self.name, self)
-        self.spi_send_cmd = self.spi_transfer_cmd = None
-        self.mcu.add_config_object(self)
         # calculate current
         vsense = False
         irun = self.current_bits(run_current, sense_resistor, vsense)
@@ -74,27 +78,19 @@ class TMC2130:
             vsense = True
             irun = self.current_bits(run_current, sense_resistor, vsense)
             ihold = self.current_bits(hold_current, sense_resistor, vsense)
-        # configure GCONF
+        # Configure registers
         self.reg_GCONF = (sc_velocity > 0.) << 2
-        self.add_config_cmd(REG_GCONF, self.reg_GCONF)
-        # configure CHOPCONF
-        self.add_config_cmd(
-            0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
-            | (vsense << 17) | (self.mres << 24) | (interpolate << 28))
-        # configure IHOLD_IRUN
-        self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
-        # configure TPOWERDOWN
-        self.add_config_cmd(0x11, tpowerdown)
-        # configure TPWMTHRS
-        self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
-        # configure COOLCONF
-        self.add_config_cmd(REG_COOLCONF, sgt << 16)
-        # configure PWMCONF
-        self.add_config_cmd(REG_PWMCONF, pwm_ampl | (pwm_grad << 8)
-                            | (pwm_freq << 16) | (pwm_scale << 18))
-    def add_config_cmd(self, addr, val):
-        self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
-            self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
+        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", max(0, min(0xfffff, sc_threshold)))
+        self.set_register("COOLCONF", sgt << 16)
+        self.set_register("PWMCONF", (
+            pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18)))
     def current_bits(self, current, sense_resistor, vsense_on):
         sense_resistor += 0.020
         vsense = 0.32
@@ -123,23 +119,32 @@ class TMC2130:
             "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)
-    def set_register(self, addr, val):
-        data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
+    def get_register(self, reg_name):
+        reg = Registers[reg_name]
+        self.spi_send_cmd.send([self.oid, [reg, 0x00, 0x00, 0x00, 0x00]])
+        params = self.spi_transfer_cmd.send_with_response(
+            [self.oid, [reg, 0x00, 0x00, 0x00, 0x00]],
+            'spi_transfer_response', self.oid)
+        pr = bytearray(params['response'])
+        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
+    def set_register(self, reg_name, val):
+        reg = Registers[reg_name]
+        if self.spi_send_cmd is None:
+            # Setup register via chip initialization
+            self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
+                self.oid, (reg | 0x80) & 0xff, val & 0xffffffff), is_init=True)
+            return
+        data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
                 (val >> 8) & 0xff, val & 0xff]
         self.spi_send_cmd.send([self.oid, data])
-    cmd_DUMP_TMC_help = "Read and display TMC2130 registers"
+    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()
         gcode = self.printer.lookup_object('gcode')
-        logging.info("DUMP_TMC2130 %s", self.name)
-        for reg, name in sorted(ReadRegisters.items()):
-            self.spi_send_cmd.send([self.oid, [reg, 0x00, 0x00, 0x00, 0x00]])
-            params = self.spi_transfer_cmd.send_with_response(
-                [self.oid, [reg, 0x00, 0x00, 0x00, 0x00]],
-                'spi_transfer_response', self.oid)
-            pr = bytearray(params['response'])
-            val = (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
-            msg = "%15s: %8x" % (name, val)
+        logging.info("DUMP_TMC %s", self.name)
+        for reg_name in ReadRegisters:
+            val = self.get_register(reg_name)
+            msg = "%-15s %08x" % (reg_name + ":", val)
             logging.info(msg)
             gcode.respond_info(msg)
 
@@ -166,12 +171,12 @@ class TMC2130VirtualEndstop:
         gconf = self.tmc2130.reg_GCONF
         gconf &= ~GCONF_EN_PWM_MODE
         gconf |= GCONF_DIAG1_STALL
-        self.tmc2130.set_register(REG_GCONF, gconf)
-        self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
+        self.tmc2130.set_register("GCONF", gconf)
+        self.tmc2130.set_register("TCOOLTHRS", 0xfffff)
         self.mcu_endstop.home_prepare()
     def home_finalize(self):
-        self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
-        self.tmc2130.set_register(REG_TCOOLTHRS, 0)
+        self.tmc2130.set_register("GCONF", self.tmc2130.reg_GCONF)
+        self.tmc2130.set_register("TCOOLTHRS", 0)
         self.mcu_endstop.home_finalize()
 
 def load_config_prefix(config):