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tmc2660: Use TMCCommandHelper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-05 14:02:16 -04:00 committed by KevinOConnor
parent c76428bd01
commit 6947548c17
1 changed files with 7 additions and 50 deletions
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57
klippy/extras/tmc2660.py
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@ -177,20 +177,13 @@ class TMC2660:
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields) self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
self.get_register = self.mcu_tmc.get_register self.get_register = self.mcu_tmc.get_register
self.set_register = self.mcu_tmc.set_register self.set_register = self.mcu_tmc.set_register
# Add SET_CURRENT and DUMP_TMC commands # Register commands
cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
gcode = self.printer.lookup_object("gcode") gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command( gcode.register_mux_command(
"SET_TMC_CURRENT", "STEPPER", self.name, "SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
gcode.register_mux_command(
"SET_TMC_FIELD", "STEPPER", self.name,
self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
gcode.register_mux_command(
"INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
# Setup driver registers # Setup driver registers
set_config_field = self.fields.set_config_field set_config_field = self.fields.set_config_field
@ -239,7 +232,7 @@ class TMC2660:
self.fields.set_field("SDOFF", 0) # only step/dir mode supported self.fields.set_field("SDOFF", 0) # only step/dir mode supported
# Init Registers # Init Registers
self._init_registers(self) cmdhelper.init_registers()
# Register ready/printing handlers # Register ready/printing handlers
self.idle_current_percentage = config.getint( self.idle_current_percentage = config.getint(
@ -250,9 +243,9 @@ class TMC2660:
self.printer.register_event_handler("idle_timeout:ready", self.printer.register_event_handler("idle_timeout:ready",
self.handle_ready) self.handle_ready)
def _init_registers(self, print_time=0.): def query_registers(self, print_time=0.):
for reg_name in Registers: return [(reg_name, self.get_register(reg_name))
self.set_register(reg_name, self.regs[reg_name]) for reg_name in ReadRegisters]
def get_microsteps(self): def get_microsteps(self):
return 256 >> self.fields.get_field("MRES") return 256 >> self.fields.get_field("MRES")
@ -289,41 +282,5 @@ class TMC2660:
self.printer.lookup_object('toolhead').get_last_move_time(), self.printer.lookup_object('toolhead').get_last_move_time(),
self.current) self.current)
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')
gcode.respond_info("========== Write-only registers ==========")
for reg_name in Registers:
msg = self.fields.pretty_format(reg_name, self.regs[reg_name])
gcode.respond_info(msg)
# Send one register to get the return data
gcode.respond_info("========== Queried registers ==========")
for reg_name in ReadRegisters:
val = self.get_register(reg_name)
gcode.respond_info(self.fields.pretty_format(reg_name, val))
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2660 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self._init_registers(print_time)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver"
def cmd_SET_TMC_FIELD(self, params):
gcode = self.printer.lookup_object('gcode')
if ('FIELD' not in params or
'VALUE' not in params):
raise gcode.error("Invalid command format")
field = gcode.get_str('FIELD', params)
reg = self.fields.field_to_register.get(field)
if reg is None:
raise gcode.error("Unknown field name '%s'" % field)
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_register(reg, self.regs[reg], print_time)
def load_config_prefix(config): def load_config_prefix(config):
return TMC2660(config) return TMC2660(config)