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tmc2130: Use bus.py helper code for spi 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-11-18 17:42:46 -05:00
parent ab6a8ec76e
commit 5bb0bd755d
1 changed files with 7 additions and 29 deletions
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36
klippy/extras/tmc2130.py
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@ -4,6 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import bus
TMC_FREQUENCY=13200000.
GCONF_EN_PWM_MODE=1<<2
@ -27,20 +28,10 @@ class TMC2130:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
# pin setup
ppins = self.printer.lookup_object("pins")
cs_pin = config.get('cs_pin')
cs_pin_params = ppins.lookup_pin(cs_pin)
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.register_config_callback(self.build_config)
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
# Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None)
ppins = self.printer.lookup_object("pins")
ppins.register_chip("tmc2130_" + self.name, self)
# Add DUMP_TMC command
gcode = self.printer.lookup_object("gcode")
@ -113,30 +104,17 @@ class TMC2130:
if pin_params['invert'] or pin_params['pullup']:
raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
return TMC2130VirtualEndstop(self)
def build_config(self):
cmd_queue = self.mcu.alloc_command_queue()
self.spi_send_cmd = self.mcu.lookup_command(
"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 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)
self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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])
self.spi.spi_send(data)
def get_microsteps(self):
return 256 >> self.mres
def get_phase(self):
@ -160,7 +138,7 @@ class TMC2130VirtualEndstop:
raise pins.error("tmc2130 virtual endstop requires diag1_pin")
ppins = tmc2130.printer.lookup_object('pins')
self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
if self.mcu_endstop.get_mcu() is not tmc2130.mcu:
if self.mcu_endstop.get_mcu() is not tmc2130.spi.get_mcu():
raise pins.error("tmc2130 virtual endstop must be on same mcu")
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu