diff options
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 70 |
1 files changed, 42 insertions, 28 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index ed5c8a1c..464cf21b 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -360,22 +360,45 @@ class TMCCurrentHelper: # Config reading helpers ###################################################################### -def get_config_microsteps(config): - steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, - '8': 5, '4': 6, '2': 7, '1': 8} - return config.getchoice('microsteps', steps) +# Helper to configure and query the microstep settings +class TMCMicrostepHelper: + def __init__(self, config, mcu_tmc): + self.mcu_tmc = mcu_tmc + self.fields = mcu_tmc.get_fields() + 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) + def get_microsteps(self): + return 256 >> self.fields.get_field("MRES") + def get_phase(self): + field_name = "MSCNT" + if self.fields.lookup_register(field_name, None) is None: + # TMC2660 uses MSTEP + field_name = "MSTEP" + reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name)) + mscnt = self.fields.get_field(field_name, reg) + return mscnt >> self.fields.get_field("MRES") -def get_config_stealthchop(config, tmc_freq): - mres = get_config_microsteps(config) +# Helper to configure "stealthchop" mode +def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): + fields = mcu_tmc.get_fields() + en_pwm_mode = False velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) - if not velocity: - return mres, False, 0 - stepper_name = " ".join(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_freq * step_dist_256 / velocity + .5) - return mres, True, max(0, min(0xfffff, threshold)) + if velocity: + stepper_name = " ".join(config.get_name().split()[1:]) + stepper_config = config.getsection(stepper_name) + step_dist = stepper_config.getfloat('step_distance') + step_dist_256 = step_dist / (1 << fields.get_field("MRES")) + threshold = int(tmc_freq * step_dist_256 / velocity + .5) + fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold))) + en_pwm_mode = True + reg = fields.lookup_register("en_pwm_mode", None) + if reg is not None: + fields.set_field("en_pwm_mode", en_pwm_mode) + else: + # TMC2208 uses en_spreadCycle + fields.set_field("en_spreadCycle", not en_pwm_mode) ###################################################################### @@ -413,13 +436,9 @@ class MCU_TMC_SPI: class TMC2130: def __init__(self, config): - self.printer = config.get_printer() - self.name = config.get_name().split()[-1] # Setup mcu communication self.fields = FieldHelper(Fields, SignedFields, FieldFormatters) self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields) - self.get_register = self.mcu_tmc.get_register - self.set_register = self.mcu_tmc.set_register # Allow virtual endstop to be created diag1_pin = config.get('diag1_pin', None) TMCEndstopHelper(config, self.mcu_tmc, diag1_pin) @@ -428,10 +447,10 @@ class TMC2130: cmdhelper.setup_register_dump(self.query_registers) # Setup basic register values TMCCurrentHelper(config, self.mcu_tmc) - 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) + mh = TMCMicrostepHelper(config, self.mcu_tmc) + self.get_microsteps = mh.get_microsteps + self.get_phase = mh.get_phase + TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field set_config_field(config, "toff", 4) @@ -447,13 +466,8 @@ class TMC2130: set_config_field(config, "pwm_autoscale", True) set_config_field(config, "sgt", 0) def query_registers(self, print_time=0.): - return [(reg_name, self.get_register(reg_name)) + return [(reg_name, self.mcu_tmc.get_register(reg_name)) for reg_name in ReadRegisters] - def get_microsteps(self): - return 256 >> self.fields.get_field("MRES") - def get_phase(self): - mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) - return mscnt >> self.fields.get_field("MRES") def load_config_prefix(config): return TMC2130(config) |