From 33dcb3829717102f5243ad805f3ee09d52c0c9cf Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 5 Aug 2021 14:25:53 -0400 Subject: tmc: Consistently use lower case for all TMC field names The Trinamic specs aren't consistent with upper vs lower case, which can be confusing. Improve clarity by using lower case names consistently in the code. Register names will continue to use all upper case naming in the code. Update the SET_TMC_FIELD command to automatically convert field names to lower case. Signed-off-by: Kevin O'Connor --- klippy/extras/tmc5160.py | 108 +++++++++++++++++++++++------------------------ 1 file changed, 54 insertions(+), 54 deletions(-) (limited to 'klippy/extras/tmc5160.py') 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) -- cgit v1.2.3-70-g09d2