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-rw-r--r--klippy/extras/tmc.py44
-rw-r--r--klippy/extras/tmc2130.py68
-rw-r--r--klippy/extras/tmc2208.py142
-rw-r--r--klippy/extras/tmc2209.py42
-rw-r--r--klippy/extras/tmc2660.py102
-rw-r--r--klippy/extras/tmc5160.py108
6 files changed, 253 insertions, 253 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index 6868b994..6fa8af4e 100644
--- a/klippy/extras/tmc.py
+++ b/klippy/extras/tmc.py
@@ -96,18 +96,18 @@ class TMCErrorCheck:
self.gstat_reg_info = None
self.clear_gstat = True
# Setup for DRV_STATUS query
- self.irun_field = "IRUN"
+ self.irun_field = "irun"
reg_name = "DRV_STATUS"
mask = err_mask = cs_actual_mask = 0
if name_parts[0] == 'tmc2130':
# TMC2130 driver quirks
self.clear_gstat = False
- cs_actual_mask = self.fields.all_fields[reg_name]["CS_ACTUAL"]
+ cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
elif name_parts[0] == 'tmc2660':
# TMC2660 driver quirks
- self.irun_field = "CS"
+ self.irun_field = "cs"
reg_name = "READRSP@RDSEL2"
- cs_actual_mask = self.fields.all_fields[reg_name]["SE"]
+ cs_actual_mask = self.fields.all_fields[reg_name]["se"]
err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"]
warn_fields = ["otpw", "t120", "t143", "t150", "t157"]
for f in err_fields + warn_fields:
@@ -140,8 +140,8 @@ class TMCErrorCheck:
irun = self.fields.get_field(self.irun_field)
if self.check_timer is None or irun < 4:
break
- if (self.irun_field == "IRUN"
- and not self.fields.get_field("IHOLD")):
+ if (self.irun_field == "irun"
+ and not self.fields.get_field("ihold")):
break
# CS_ACTUAL field of zero - indicates a driver reset
count += 1
@@ -215,7 +215,7 @@ class TMCCommandHelper:
self._init_registers(print_time)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
def cmd_SET_TMC_FIELD(self, gcmd):
- field_name = gcmd.get('FIELD')
+ field_name = gcmd.get('FIELD').lower()
reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None:
raise gcmd.error("Unknown field name '%s'" % (field_name,))
@@ -349,8 +349,8 @@ class TMCVirtualPinHelper:
# Setup for sensorless homing
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
- self.en_pwm = not self.fields.get_field("en_spreadCycle")
- self.pwmthrs = self.fields.get_field("TPWMTHRS")
+ self.en_pwm = not self.fields.get_field("en_spreadcycle")
+ self.pwmthrs = self.fields.get_field("tpwmthrs")
else:
self.en_pwm = self.fields.get_field("en_pwm_mode")
self.pwmthrs = 0
@@ -366,29 +366,29 @@ class TMCVirtualPinHelper:
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
# On "stallguard4" drivers, "stealthchop" must be enabled
- tp_val = self.fields.set_field("TPWMTHRS", 0)
+ tp_val = self.fields.set_field("tpwmthrs", 0)
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
- val = self.fields.set_field("en_spreadCycle", 0)
+ val = self.fields.set_field("en_spreadcycle", 0)
else:
# On earlier drivers, "stealthchop" must be disabled
self.fields.set_field("en_pwm_mode", 0)
val = self.fields.set_field(self.diag_pin_field, 1)
self.mcu_tmc.set_register("GCONF", val)
- tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff)
+ tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
def handle_homing_move_end(self, hmove):
if self.mcu_endstop not in hmove.get_mcu_endstops():
return
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
- tp_val = self.fields.set_field("TPWMTHRS", self.pwmthrs)
+ tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
self.mcu_tmc.set_register("TPWMTHRS", tp_val)
- val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
+ val = self.fields.set_field("en_spreadcycle", not self.en_pwm)
else:
self.fields.set_field("en_pwm_mode", self.en_pwm)
val = self.fields.set_field(self.diag_pin_field, 0)
self.mcu_tmc.set_register("GCONF", val)
- tc_val = self.fields.set_field("TCOOLTHRS", 0)
+ tc_val = self.fields.set_field("tcoolthrs", 0)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
@@ -410,15 +410,15 @@ class TMCMicrostepHelper:
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8}
mres = ms_config.getchoice('microsteps', steps)
- self.fields.set_field("MRES", mres)
+ self.fields.set_field("mres", mres)
self.fields.set_field("intpol", config.getboolean("interpolate", True))
def get_microsteps(self):
- return 256 >> self.fields.get_field("MRES")
+ return 256 >> self.fields.get_field("mres")
def get_phase(self):
- field_name = "MSCNT"
+ field_name = "mscnt"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
- field_name = "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 1023 - mscnt, 1024
@@ -432,13 +432,13 @@ def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper.parse_step_distance(stepper_config)
- step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
+ 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)))
+ 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)
+ fields.set_field("en_spreadcycle", not en_pwm_mode)
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index bb93cff8..f28c37a5 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -24,7 +24,7 @@ ReadRegisters = [
Fields = {}
Fields["GCONF"] = {
- "I_scale_analog": 1<<0, "internal_Rsense": 1<<1, "en_pwm_mode": 1<<2,
+ "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,
@@ -34,58 +34,58 @@ Fields["GCONF"] = {
}
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
+ "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
+ "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["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,
+ "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
+ "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,
+ "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_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 }
+Fields["PWM_SCALE"] = { "pwm_scale": 0xff }
+Fields["LOST_STEPS"] = { "lost_steps": 0xfffff }
-SignedFields = ["CUR_A", "CUR_B", "sgt"]
+SignedFields = ["cur_a", "cur_b", "sgt"]
FieldFormatters = {
- "I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
+ "i_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" if v else ""),
"reset": (lambda v: "1(Reset)" 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),
- "MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
+ "version": (lambda v: "%#x" % v),
+ "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 ""),
- "CS_ACTUAL": (lambda v: ("%d" % v) if v else "0(Reset?)"),
+ "cs_actual": (lambda v: ("%d" % v) if v else "0(Reset?)"),
}
@@ -108,8 +108,8 @@ class TMCCurrentHelper:
self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
vsense, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("vsense", vsense)
- self.fields.set_field("IHOLD", ihold)
- self.fields.set_field("IRUN", irun)
+ self.fields.set_field("ihold", ihold)
+ self.fields.set_field("irun", irun)
def _calc_current_bits(self, current, vsense):
sense_resistor = self.sense_resistor + 0.020
vref = 0.32
@@ -137,16 +137,16 @@ class TMCCurrentHelper:
vref = 0.18
return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
def get_current(self):
- run_current = self._calc_current_from_field("IRUN")
- hold_current = self._calc_current_from_field("IHOLD")
+ run_current = self._calc_current_from_field("irun")
+ hold_current = self._calc_current_from_field("ihold")
return run_current, hold_current, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
vsense, irun, ihold = self._calc_current(run_current, hold_current)
if vsense != self.fields.get_field("vsense"):
val = self.fields.set_field("vsense", vsense)
self.mcu_tmc.set_register("CHOPCONF", val, print_time)
- self.fields.set_field("IHOLD", ihold)
- val = self.fields.set_field("IRUN", irun)
+ self.fields.set_field("ihold", ihold)
+ val = self.fields.set_field("irun", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
@@ -270,11 +270,11 @@ class TMC2130:
set_config_field(config, "toff", 4)
set_config_field(config, "hstrt", 0)
set_config_field(config, "hend", 7)
- set_config_field(config, "TBL", 1)
- 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, "tbl", 1)
+ 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)
set_config_field(config, "sgt", 0)
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index 759c9617..e4c3f2f0 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -25,9 +25,9 @@ ReadRegisters = [
Fields = {}
Fields["GCONF"] = {
- "I_scale_analog": 0x01,
- "internal_Rsense": 0x01 << 1,
- "en_spreadCycle": 0x01 << 2,
+ "i_scale_analog": 0x01,
+ "internal_rsense": 0x01 << 1,
+ "en_spreadcycle": 0x01 << 2,
"shaft": 0x01 << 3,
"index_otpw": 0x01 << 4,
"index_step": 0x01 << 5,
@@ -42,91 +42,91 @@ Fields["GSTAT"] = {
"uv_cp": 0x01 << 2
}
Fields["IFCNT"] = {
- "IFCNT": 0xff
+ "ifcnt": 0xff
}
Fields["SLAVECONF"] = {
- "SENDDELAY": 0x0f << 8
+ "senddelay": 0x0f << 8
}
Fields["OTP_PROG"] = {
- "OTPBIT": 0x07,
- "OTPBYTE": 0x03 << 4,
- "OTPMAGIC": 0xff << 8
+ "otpbit": 0x07,
+ "otpbyte": 0x03 << 4,
+ "otpmagic": 0xff << 8
}
Fields["OTP_READ"] = {
- "OTP_FCLKTRIM": 0x1f,
- "otp_OTTRIM": 0x01 << 5,
- "otp_internalRsense": 0x01 << 6,
- "otp_TBL": 0x01 << 7,
- "OTP_PWM_GRAD": 0x0f << 8,
+ "otp_fclktrim": 0x1f,
+ "otp_ottrim": 0x01 << 5,
+ "otp_internalrsense": 0x01 << 6,
+ "otp_tbl": 0x01 << 7,
+ "otp_pwm_grad": 0x0f << 8,
"otp_pwm_autograd": 0x01 << 12,
- "OTP_TPWMTHRS": 0x07 << 13,
- "otp_PWM_OFS": 0x01 << 16,
- "otp_PWM_REG": 0x01 << 17,
- "otp_PWM_FREQ": 0x01 << 18,
- "OTP_IHOLDDELAY": 0x03 << 19,
- "OTP_IHOLD": 0x03 << 21,
- "otp_en_spreadCycle": 0x01 << 23
+ "otp_tpwmthrs": 0x07 << 13,
+ "otp_pwm_ofs": 0x01 << 16,
+ "otp_pwm_reg": 0x01 << 17,
+ "otp_pwm_freq": 0x01 << 18,
+ "otp_iholddelay": 0x03 << 19,
+ "otp_ihold": 0x03 << 21,
+ "otp_en_spreadcycle": 0x01 << 23
}
# IOIN mapping depends on the driver type (SEL_A field)
# TMC222x (SEL_A == 0)
Fields["IOIN@TMC222x"] = {
- "PDN_UART": 0x01 << 1,
- "SPREAD": 0x01 << 2,
- "DIR": 0x01 << 3,
- "ENN": 0x01 << 4,
- "STEP": 0x01 << 5,
- "MS1": 0x01 << 6,
- "MS2": 0x01 << 7,
- "SEL_A": 0x01 << 8,
- "VERSION": 0xff << 24
+ "pdn_uart": 0x01 << 1,
+ "spread": 0x01 << 2,
+ "dir": 0x01 << 3,
+ "enn": 0x01 << 4,
+ "step": 0x01 << 5,
+ "ms1": 0x01 << 6,
+ "ms2": 0x01 << 7,
+ "sel_a": 0x01 << 8,
+ "version": 0xff << 24
}
# TMC220x (SEL_A == 1)
Fields["IOIN@TMC220x"] = {
- "ENN": 0x01,
- "MS1": 0x01 << 2,
- "MS2": 0x01 << 3,
- "DIAG": 0x01 << 4,
- "PDN_UART": 0x01 << 6,
- "STEP": 0x01 << 7,
- "SEL_A": 0x01 << 8,
- "DIR": 0x01 << 9,
- "VERSION": 0xff << 24,
+ "enn": 0x01,
+ "ms1": 0x01 << 2,
+ "ms2": 0x01 << 3,
+ "diag": 0x01 << 4,
+ "pdn_uart": 0x01 << 6,
+ "step": 0x01 << 7,
+ "sel_a": 0x01 << 8,
+ "dir": 0x01 << 9,
+ "version": 0xff << 24,
}
Fields["FACTORY_CONF"] = {
- "FCLKTRIM": 0x1f,
- "OTTRIM": 0x03 << 8
+ "fclktrim": 0x1f,
+ "ottrim": 0x03 << 8
}
Fields["IHOLD_IRUN"] = {
- "IHOLD": 0x1f,
- "IRUN": 0x1f << 8,
- "IHOLDDELAY": 0x0f << 16
+ "ihold": 0x1f,
+ "irun": 0x1f << 8,
+ "iholddelay": 0x0f << 16
}
Fields["TPOWERDOWN"] = {
- "TPOWERDOWN": 0xff
+ "tpowerdown": 0xff
}
Fields["TSTEP"] = {
- "TSTEP": 0xfffff
+ "tstep": 0xfffff
}
Fields["TPWMTHRS"] = {
- "TPWMTHRS": 0xfffff
+ "tpwmthrs": 0xfffff
}
Fields["VACTUAL"] = {
- "VACTUAL": 0xffffff
+ "vactual": 0xffffff
}
Fields["MSCNT"] = {
- "MSCNT": 0x3ff
+ "mscnt": 0x3ff
}
Fields["MSCURACT"] = {
- "CUR_A": 0x1ff,
- "CUR_B": 0x1ff << 16
+ "cur_a": 0x1ff,
+ "cur_b": 0x1ff << 16
}
Fields["CHOPCONF"] = {
"toff": 0x0f,
"hstrt": 0x07 << 4,
"hend": 0x0f << 7,
- "TBL": 0x03 << 15,
+ "tbl": 0x03 << 15,
"vsense": 0x01 << 17,
- "MRES": 0x0f << 24,
+ "mres": 0x0f << 24,
"intpol": 0x01 << 28,
"dedge": 0x01 << 29,
"diss2g": 0x01 << 30,
@@ -145,34 +145,34 @@ Fields["DRV_STATUS"] = {
"t143": 0x01 << 9,
"t150": 0x01 << 10,
"t157": 0x01 << 11,
- "CS_ACTUAL": 0x1f << 16,
+ "cs_actual": 0x1f << 16,
"stealth": 0x01 << 30,
"stst": 0x01 << 31
}
Fields["PWMCONF"] = {
- "PWM_OFS": 0xff,
- "PWM_GRAD": 0xff << 8,
+ "pwm_ofs": 0xff,
+ "pwm_grad": 0xff << 8,
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
- "PWM_REG": 0xf << 24,
- "PWM_LIM": 0xf << 28
+ "pwm_reg": 0xf << 24,
+ "pwm_lim": 0xf << 28
}
Fields["PWM_SCALE"] = {
- "PWM_SCALE_SUM": 0xff,
- "PWM_SCALE_AUTO": 0x1ff << 16
+ "pwm_scale_sum": 0xff,
+ "pwm_scale_auto": 0x1ff << 16
}
Fields["PWM_AUTO"] = {
- "PWM_OFS_AUTO": 0xff,
- "PWM_GRAD_AUTO": 0xff << 16
+ "pwm_ofs_auto": 0xff,
+ "pwm_grad_auto": 0xff << 16
}
-SignedFields = ["CUR_A", "CUR_B", "PWM_SCALE_AUTO"]
+SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
- "SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
+ "sel_a": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
})
@@ -204,19 +204,19 @@ class TMC2208:
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
- set_config_field(config, "TBL", 2)
- set_config_field(config, "IHOLDDELAY", 8)
- set_config_field(config, "TPOWERDOWN", 20)
- set_config_field(config, "PWM_OFS", 36)
- set_config_field(config, "PWM_GRAD", 14)
+ set_config_field(config, "tbl", 2)
+ set_config_field(config, "iholddelay", 8)
+ set_config_field(config, "tpowerdown", 20)
+ set_config_field(config, "pwm_ofs", 36)
+ set_config_field(config, "pwm_grad", 14)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
- set_config_field(config, "PWM_REG", 8)
- set_config_field(config, "PWM_LIM", 12)
+ set_config_field(config, "pwm_reg", 8)
+ set_config_field(config, "pwm_lim", 12)
def read_translate(self, reg_name, val):
if reg_name == "IOIN":
- drv_type = self.fields.get_field("SEL_A", val)
+ drv_type = self.fields.get_field("sel_a", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
return reg_name, val
diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py
index c95ade34..7856334b 100644
--- a/klippy/extras/tmc2209.py
+++ b/klippy/extras/tmc2209.py
@@ -26,24 +26,24 @@ Fields["COOLCONF"] = {
"seimin": 0x01 << 15
}
Fields["IOIN"] = {
- "ENN": 0x01 << 0,
- "MS1": 0x01 << 2,
- "MS2": 0x01 << 3,
- "DIAG": 0x01 << 4,
- "PDN_UART": 0x01 << 6,
- "STEP": 0x01 << 7,
- "SPREAD_EN": 0x01 << 8,
- "DIR": 0x01 << 9,
- "VERSION": 0xff << 24
+ "enn": 0x01 << 0,
+ "ms1": 0x01 << 2,
+ "ms2": 0x01 << 3,
+ "diag": 0x01 << 4,
+ "pdn_uart": 0x01 << 6,
+ "step": 0x01 << 7,
+ "spread_en": 0x01 << 8,
+ "dir": 0x01 << 9,
+ "version": 0xff << 24
}
Fields["SGTHRS"] = {
- "SGTHRS": 0xFF << 0
+ "sgthrs": 0xFF << 0
}
Fields["SG_RESULT"] = {
- "SG_RESULT": 0x3FF << 0
+ "sg_result": 0x3FF << 0
}
Fields["TCOOLTHRS"] = {
- "TCOOLTHRS": 0xfffff
+ "tcoolthrs": 0xfffff
}
FieldFormatters = dict(tmc2208.FieldFormatters)
@@ -61,7 +61,7 @@ class TMC2209:
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
# Setup fields for UART
self.fields.set_field("pdn_disable", True)
- self.fields.set_field("SENDDELAY", 2) # Avoid tx errors on shared uart
+ self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
@@ -81,17 +81,17 @@ class TMC2209:
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
- set_config_field(config, "TBL", 2)
- set_config_field(config, "IHOLDDELAY", 8)
- set_config_field(config, "TPOWERDOWN", 20)
- set_config_field(config, "PWM_OFS", 36)
- set_config_field(config, "PWM_GRAD", 14)
+ set_config_field(config, "tbl", 2)
+ set_config_field(config, "iholddelay", 8)
+ set_config_field(config, "tpowerdown", 20)
+ set_config_field(config, "pwm_ofs", 36)
+ set_config_field(config, "pwm_grad", 14)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
- set_config_field(config, "PWM_REG", 8)
- set_config_field(config, "PWM_LIM", 12)
- set_config_field(config, "SGTHRS", 0)
+ set_config_field(config, "pwm_reg", 8)
+ set_config_field(config, "pwm_lim", 12)
+ set_config_field(config, "sgthrs", 0)
def load_config_prefix(config):
return TMC2209(config)
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
index a91a42d3..3376f724 100644
--- a/klippy/extras/tmc2660.py
+++ b/klippy/extras/tmc2660.py
@@ -17,19 +17,19 @@ ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
Fields = {}
Fields["DRVCTRL"] = {
- "MRES": 0x0f,
- "DEDGE": 0x01 << 8,
+ "mres": 0x0f,
+ "dedge": 0x01 << 8,
"intpol": 0x01 << 9,
}
Fields["CHOPCONF"] = {
"toff": 0x0f,
- "HSTRT": 0x7 << 4,
- "HEND": 0x0f << 7,
- "HDEC": 0x03 << 11,
- "RNDTF": 0x01 << 13,
- "CHM": 0x01 << 14,
- "TBL": 0x03 << 15
+ "hstrt": 0x7 << 4,
+ "hend": 0x0f << 7,
+ "hdec": 0x03 << 11,
+ "rndtf": 0x01 << 13,
+ "chm": 0x01 << 14,
+ "tbl": 0x03 << 15
}
Fields["SMARTEN"] = {
@@ -41,24 +41,24 @@ Fields["SMARTEN"] = {
}
Fields["SGCSCONF"] = {
- "CS": 0x1f,
+ "cs": 0x1f,
"sgt": 0x7F << 8,
"sfilt": 0x01 << 16
}
Fields["DRVCONF"] = {
- "RDSEL": 0x03 << 4,
- "VSENSE": 0x01 << 6,
- "SDOFF": 0x01 << 7,
- "TS2G": 0x03 << 8,
- "DISS2G": 0x01 << 10,
- "SLPL": 0x03 << 12,
- "SLPH": 0x03 << 14,
- "TST": 0x01 << 16
+ "rdsel": 0x03 << 4,
+ "vsense": 0x01 << 6,
+ "sdoff": 0x01 << 7,
+ "ts2g": 0x03 << 8,
+ "diss2g": 0x01 << 10,
+ "slpl": 0x03 << 12,
+ "slph": 0x03 << 14,
+ "tst": 0x01 << 16
}
Fields["READRSP@RDSEL0"] = {
- "stallGuard": 0x01 << 4,
+ "stallguard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
@@ -66,11 +66,11 @@ Fields["READRSP@RDSEL0"] = {
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
- "MSTEP": 0x3ff << 14
+ "mstep": 0x3ff << 14
}
Fields["READRSP@RDSEL1"] = {
- "stallGuard": 0x01 << 4,
+ "stallguard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
@@ -78,11 +78,11 @@ Fields["READRSP@RDSEL1"] = {
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
- "SG_RESULT": 0x3ff << 14
+ "sg_result": 0x3ff << 14
}
Fields["READRSP@RDSEL2"] = {
- "stallGuard": 0x01 << 4,
+ "stallguard": 0x01 << 4,
"ot": 0x01 << 5,
"otpw": 0x01 << 6,
"s2ga": 0x01 << 7,
@@ -90,20 +90,20 @@ Fields["READRSP@RDSEL2"] = {
"ola": 0x01 << 9,
"olb": 0x01 << 10,
"stst": 0x01 << 11,
- "SE": 0x1f << 14,
- "SG_RESULT@RDSEL2": 0x1f << 19
+ "se": 0x1f << 14,
+ "sg_result@rdsel2": 0x1f << 19
}
SignedFields = ["sgt"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
- "DEDGE": (lambda v: "1(Both Edges Active!)" if v else ""),
- "CHM": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
- "VSENSE": (lambda v: "1(165mV)" if v else "0(305mV)"),
- "SDOFF": (lambda v: "1(Step/Dir disabled!)" if v else ""),
- "DISS2G": (lambda v: "1(Short to GND disabled!)" if v else ""),
- "SE": (lambda v: ("%d" % v) if v else "0(Reset?)"),
+ "dedge": (lambda v: "1(Both Edges Active!)" if v else ""),
+ "chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
+ "vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
+ "sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),
+ "diss2g": (lambda v: "1(Short to GND disabled!)" if v else ""),
+ "se": (lambda v: ("%d" % v) if v else "0(Reset?)"),
})
@@ -123,8 +123,8 @@ class TMC2660CurrentHelper:
maxval=MAX_CURRENT)
self.sense_resistor = config.getfloat('sense_resistor')
vsense, cs = self._calc_current(self.current)
- self.fields.set_field("CS", cs)
- self.fields.set_field("VSENSE", vsense)
+ self.fields.set_field("cs", cs)
+ self.fields.set_field("vsense", vsense)
# Register ready/printing handlers
self.idle_current_percentage = config.getint(
@@ -161,11 +161,11 @@ class TMC2660CurrentHelper:
def _update_current(self, current, print_time):
vsense, cs = self._calc_current(current)
- val = self.fields.set_field("CS", cs)
+ val = self.fields.set_field("cs", cs)
self.mcu_tmc.set_register("SGCSCONF", val, print_time)
# Only update VSENSE if we need to
- if vsense != self.fields.get_field("VSENSE"):
- val = self.fields.set_field("VSENSE", vsense)
+ if vsense != self.fields.get_field("vsense"):
+ val = self.fields.set_field("vsense", vsense)
self.mcu_tmc.set_register("DRVCONF", val, print_time)
def get_current(self):
@@ -196,8 +196,8 @@ class MCU_TMC2660_SPI:
if self.printer.get_start_args().get('debugoutput') is not None:
return 0
with self.mutex:
- old_rdsel = self.fields.get_field("RDSEL")
- val = self.fields.set_field("RDSEL", new_rdsel)
+ old_rdsel = self.fields.get_field("rdsel")
+ val = self.fields.set_field("rdsel", new_rdsel)
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
if new_rdsel != old_rdsel:
# Must set RDSEL value first
@@ -223,7 +223,7 @@ class TMC2660:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
- self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
+ self.fields.set_field("sdoff", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
@@ -236,16 +236,16 @@ class TMC2660:
self.get_phase = mh.get_phase
# CHOPCONF
set_config_field = self.fields.set_config_field
- set_config_field(config, "TBL", 2)
- set_config_field(config, "RNDTF", 0)
- set_config_field(config, "HDEC", 0)
- set_config_field(config, "CHM", 0)
- set_config_field(config, "HEND", 3)
- set_config_field(config, "HSTRT", 3)
+ set_config_field(config, "tbl", 2)
+ set_config_field(config, "rndtf", 0)
+ set_config_field(config, "hdec", 0)
+ set_config_field(config, "chm", 0)
+ set_config_field(config, "hend", 3)
+ set_config_field(config, "hstrt", 3)
set_config_field(config, "toff", 4)
- if not self.fields.get_field("CHM"):
- if (self.fields.get_field("HSTRT") +
- self.fields.get_field("HEND")) > 15:
+ if not self.fields.get_field("chm"):
+ if (self.fields.get_field("hstrt") +
+ self.fields.get_field("hend")) > 15:
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
# SMARTEN
set_config_field(config, "seimin", 0)
@@ -259,10 +259,10 @@ class TMC2660:
set_config_field(config, "sgt", 0)
# DRVCONF
- set_config_field(config, "SLPH", 0)
- set_config_field(config, "SLPL", 0)
- set_config_field(config, "DISS2G", 0)
- set_config_field(config, "TS2G", 3)
+ set_config_field(config, "slph", 0)
+ set_config_field(config, "slpl", 0)
+ set_config_field(config, "diss2g", 0)
+ set_config_field(config, "ts2g", 3)
def load_config_prefix(config):
return TMC2660(config)
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index adc172da..fa6f9e43 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -99,20 +99,20 @@ Fields["CHOPCONF"] = {
"vhighfs": 0x01 << 18,
"vhighchm": 0x01 << 19,
"tpfd": 0x0F << 20, # midrange resonances
- "MRES": 0x0F << 24,
+ "mres": 0x0F << 24,
"intpol": 0x01 << 28,
"dedge": 0x01 << 29,
"diss2g": 0x01 << 30,
"diss2vs": 0x01 << 31
}
Fields["DRV_STATUS"] = {
- "SG_RESULT": 0x3FF << 0,
+ "sg_result": 0x3FF << 0,
"s2vsa": 0x01 << 12,
"s2vsb": 0x01 << 13,
"stealth": 0x01 << 14,
"fsactive": 0x01 << 15,
- "CSACTUAL": 0xFF << 16,
- "stallGuard": 0x01 << 24,
+ "csactual": 0xFF << 16,
+ "stallguard": 0x01 << 24,
"ot": 0x01 << 25,
"otpw": 0x01 << 26,
"s2ga": 0x01 << 27,
@@ -122,7 +122,7 @@ Fields["DRV_STATUS"] = {
"stst": 0x01 << 31
}
Fields["FACTORY_CONF"] = {
- "FACTORY_CONF": 0x1F << 0
+ "factory_conf": 0x1F << 0
}
Fields["GCONF"] = {
"recalibrate": 0x01 << 0,
@@ -150,72 +150,72 @@ Fields["GSTAT"] = {
"uv_cp": 0x01 << 2
}
Fields["GLOBALSCALER"] = {
- "GLOBALSCALER": 0xFF << 0
+ "globalscaler": 0xFF << 0
}
Fields["IHOLD_IRUN"] = {
- "IHOLD": 0x1F << 0,
- "IRUN": 0x1F << 8,
- "IHOLDDELAY": 0x0F << 16
+ "ihold": 0x1F << 0,
+ "irun": 0x1F << 8,
+ "iholddelay": 0x0F << 16
}
Fields["IOIN"] = {
- "REFL_STEP": 0x01 << 0,
- "REFR_DIR": 0x01 << 1,
- "ENCB_DCEN_CFG4": 0x01 << 2,
- "ENCA_DCIN_CFG5": 0x01 << 3,
- "DRV_ENN": 0x01 << 4,
- "ENC_N_DCO_CFG6": 0x01 << 5,
- "SD_MODE": 0x01 << 6,
- "SWCOMP_IN": 0x01 << 7,
- "VERSION": 0xFF << 24
+ "refl_step": 0x01 << 0,
+ "refr_dir": 0x01 << 1,
+ "encb_dcen_cfg4": 0x01 << 2,
+ "enca_dcin_cfg5": 0x01 << 3,
+ "drv_enn": 0x01 << 4,
+ "enc_n_dco_cfg6": 0x01 << 5,
+ "sd_mode": 0x01 << 6,
+ "swcomp_in": 0x01 << 7,
+ "version": 0xFF << 24
}
Fields["LOST_STEPS"] = {
- "LOST_STEPS": 0xfffff << 0
+ "lost_steps": 0xfffff << 0
}
Fields["MSCNT"] = {
- "MSCNT": 0x3ff << 0
+ "mscnt": 0x3ff << 0
}
Fields["MSCURACT"] = {
- "CUR_A": 0x1ff << 0,
- "CUR_B": 0x1ff << 16
+ "cur_a": 0x1ff << 0,
+ "cur_b": 0x1ff << 16
}
Fields["OTP_READ"] = {
- "OTP_FCLKTRIM": 0x1f << 0,
- "otp_S2_LEVEL": 0x01 << 5,
- "otp_BBM": 0x01 << 6,
- "otp_TBL": 0x01 << 7
+ "otp_fclktrim": 0x1f << 0,
+ "otp_s2_level": 0x01 << 5,
+ "otp_bbm": 0x01 << 6,
+ "otp_tbl": 0x01 << 7
}
Fields["PWM_AUTO"] = {
- "PWM_OFS_AUTO": 0xff << 0,
- "PWM_GRAD_AUTO": 0xff << 16
+ "pwm_ofs_auto": 0xff << 0,
+ "pwm_grad_auto": 0xff << 16
}
Fields["PWMCONF"] = {
- "PWM_OFS": 0xFF << 0,
- "PWM_GRAD": 0xFF << 8,
+ "pwm_ofs": 0xFF << 0,
+ "pwm_grad": 0xFF << 8,
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
- "PWM_REG": 0x0F << 24,
- "PWM_LIM": 0x0F << 28
+ "pwm_reg": 0x0F << 24,
+ "pwm_lim": 0x0F << 28
}
Fields["PWM_SCALE"] = {
- "PWM_SCALE_SUM": 0xff << 0,
- "PWM_SCALE_AUTO": 0x1ff << 16
+ "pwm_scale_sum": 0xff << 0,
+ "pwm_scale_auto": 0x1ff << 16
}
Fields["TPOWERDOWN"] = {
- "TPOWERDOWN": 0xff << 0
+ "tpowerdown": 0xff << 0
}
Fields["TPWMTHRS"] = {
- "TPWMTHRS": 0xfffff << 0
+ "tpwmthrs": 0xfffff << 0
}
Fields["TCOOLTHRS"] = {
- "TCOOLTHRS": 0xfffff << 0
+ "tcoolthrs": 0xfffff << 0
}
Fields["TSTEP"] = {
- "TSTEP": 0xfffff << 0
+ "tstep": 0xfffff << 0
}
-SignedFields = ["CUR_A", "CUR_B", "sgt", "XACTUAL", "VACTUAL", "PWM_SCALE_AUTO"]
+SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
@@ -240,17 +240,17 @@ class TMC5160CurrentHelper:
self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
self._set_globalscaler(run_current)
irun, ihold = self._calc_current(run_current, hold_current)
- self.fields.set_field("IHOLD", ihold)
- self.fields.set_field("IRUN", irun)
+ self.fields.set_field("ihold", ihold)
+ self.fields.set_field("irun", irun)
def _set_globalscaler(self, current):
globalscaler = int((current * 256. * math.sqrt(2.)
* self.sense_resistor / VREF) + .5)
globalscaler = max(32, globalscaler)
if globalscaler >= 256:
globalscaler = 0
- self.fields.set_field("GLOBALSCALER", globalscaler)
+ self.fields.set_field("globalscaler", globalscaler)
def _calc_current_bits(self, current):
- globalscaler = self.fields.get_field("GLOBALSCALER")
+ globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
@@ -262,20 +262,20 @@ class TMC5160CurrentHelper:
ihold = self._calc_current_bits(min(hold_current, run_current))
return irun, ihold
def _calc_current_from_field(self, field_name):
- globalscaler = self.fields.get_field("GLOBALSCALER")
+ globalscaler = self.fields.get_field("globalscaler")
if not globalscaler:
globalscaler = 256
bits = self.fields.get_field(field_name)
return (globalscaler * (bits + 1) * VREF
/ (256. * 32. * math.sqrt(2.) * self.sense_resistor))
def get_current(self):
- run_current = self._calc_current_from_field("IRUN")
- hold_current = self._calc_current_from_field("IHOLD")
+ run_current = self._calc_current_from_field("irun")
+ hold_current = self._calc_current_from_field("ihold")
return run_current, hold_current, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
irun, ihold = self._calc_current(run_current, hold_current)
- self.fields.set_field("IHOLD", ihold)
- val = self.fields.set_field("IRUN", irun)
+ self.fields.set_field("ihold", ihold)
+ val = self.fields.set_field("irun", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
@@ -322,18 +322,18 @@ class TMC5160:
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# IHOLDIRUN
- set_config_field(config, "IHOLDDELAY", 6)
+ set_config_field(config, "iholddelay", 6)
# PWMCONF
- set_config_field(config, "PWM_OFS", 30)
- set_config_field(config, "PWM_GRAD", 0)
+ set_config_field(config, "pwm_ofs", 30)
+ set_config_field(config, "pwm_grad", 0)
set_config_field(config, "pwm_freq", 0)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "freewheel", 0)
- set_config_field(config, "PWM_REG", 4)
- set_config_field(config, "PWM_LIM", 12)
+ set_config_field(config, "pwm_reg", 4)
+ set_config_field(config, "pwm_lim", 12)
# TPOWERDOWN
- set_config_field(config, "TPOWERDOWN", 10)
+ set_config_field(config, "tpowerdown", 10)
def load_config_prefix(config):
return TMC5160(config)
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 14:35:09 +0000