From 8b8f591a05c6ea76efefc6864b6fe31b65c9bc82 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 24 Apr 2020 23:57:26 -0400 Subject: [PATCH] tmc: Use new GCodeCommand wrappers Signed-off-by: Kevin O'Connor --- klippy/extras/tmc.py | 44 +++++++++++++++++++++----------------------- 1 file changed, 21 insertions(+), 23 deletions(-) diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 2bbd841c..d87d5a3f 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -91,13 +91,13 @@ class TMCCommandHelper: self.printer.register_event_handler("klippy:connect", self._handle_connect) # Register commands - self.gcode = self.printer.lookup_object("gcode") - self.gcode.register_mux_command( - "SET_TMC_FIELD", "STEPPER", self.name, - self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) - self.gcode.register_mux_command( - "INIT_TMC", "STEPPER", self.name, - self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) + gcode = self.printer.lookup_object("gcode") + 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) def _init_registers(self, print_time=None): # Send registers for reg_name, val in self.fields.registers.items(): @@ -126,19 +126,17 @@ class TMCCommandHelper: reactor = self.printer.get_reactor() reactor.pause(reactor.monotonic() + 1.) cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" - def cmd_INIT_TMC(self, params): + def cmd_INIT_TMC(self, gcmd): logging.info("INIT_TMC %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 TMC driver" - def cmd_SET_TMC_FIELD(self, params): - if 'FIELD' not in params or 'VALUE' not in params: - raise self.gcode.error("Invalid command format") - field_name = self.gcode.get_str('FIELD', params) + def cmd_SET_TMC_FIELD(self, gcmd): + field_name = gcmd.get('FIELD') reg_name = self.fields.lookup_register(field_name, None) if reg_name is None: - raise self.gcode.error("Unknown field name '%s'" % (field_name,)) - value = self.gcode.get_int('VALUE', params) + raise gcmd.error("Unknown field name '%s'" % (field_name,)) + value = gcmd.get_int('VALUE') reg_val = self.fields.set_field(field_name, value) print_time = self.printer.lookup_object('toolhead').get_last_move_time() self.mcu_tmc.set_register(reg_name, reg_val, print_time) @@ -158,24 +156,24 @@ class TMCCommandHelper: def setup_register_dump(self, read_registers, read_translate=None): self.read_registers = read_registers self.read_translate = read_translate - self.gcode.register_mux_command( - "DUMP_TMC", "STEPPER", self.name, - self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) + gcode = self.printer.lookup_object("gcode") + gcode.register_mux_command("DUMP_TMC", "STEPPER", self.name, + self.cmd_DUMP_TMC, + desc=self.cmd_DUMP_TMC_help) cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" - def cmd_DUMP_TMC(self, params): + def cmd_DUMP_TMC(self, gcmd): logging.info("DUMP_TMC %s", self.name) print_time = self.printer.lookup_object('toolhead').get_last_move_time() - self.gcode.respond_info("========== Write-only registers ==========") + gcmd.respond_info("========== Write-only registers ==========") for reg_name, val in self.fields.registers.items(): if reg_name not in self.read_registers: - self.gcode.respond_info( - self.fields.pretty_format(reg_name, val)) - self.gcode.respond_info("========== Queried registers ==========") + gcmd.respond_info(self.fields.pretty_format(reg_name, val)) + gcmd.respond_info("========== Queried registers ==========") for reg_name in self.read_registers: val = self.mcu_tmc.get_register(reg_name) if self.read_translate is not None: reg_name, val = self.read_translate(reg_name, val) - self.gcode.respond_info(self.fields.pretty_format(reg_name, val)) + gcmd.respond_info(self.fields.pretty_format(reg_name, val)) ######################################################################