From c76428bd019232009338ab876d8c69549581a8dc Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 5 Jun 2019 13:44:16 -0400 Subject: [PATCH] tmc5160: Use TMCCommandHelper Signed-off-by: Kevin O'Connor --- klippy/extras/tmc5160.py | 53 ++++++---------------------------------- 1 file changed, 7 insertions(+), 46 deletions(-) diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index 5f84efe8..ed061ade 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -265,20 +265,13 @@ class TMC5160: self.diag1_pin = config.get('diag1_pin', None) ppins = self.printer.lookup_object("pins") ppins.register_chip("tmc5160_" + self.name, self) - # Add DUMP_TMC, INIT_TMC command + # Register commands + cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) + cmdhelper.setup_register_dump(self.query_registers) gcode = self.printer.lookup_object("gcode") gcode.register_mux_command( "SET_TMC_CURRENT", "STEPPER", self.name, 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 basic register values irun, ihold, self.sense_resistor = get_config_current(config) msteps, en_pwm, thresh = \ @@ -328,16 +321,16 @@ class TMC5160: # TPOWERDOWN set_config_field(config, "TPOWERDOWN", 10) - self._init_registers() - def _init_registers(self, print_time=0.): - for reg_name, val in self.regs.items(): - self.set_register(reg_name, val, print_time) + cmdhelper.init_registers() def setup_pin(self, pin_type, pin_params): if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': raise pins.error("tmc5160 virtual endstop only useful as endstop") if pin_params['invert'] or pin_params['pullup']: raise pins.error("Can not pullup/invert tmc5160 virtual endstop") return tmc2130.TMC2130VirtualEndstop(self) + def query_registers(self, print_time=0.): + return [(reg_name, self.get_register(reg_name)) + for reg_name in ReadRegisters] def get_microsteps(self): return 256 >> self.fields.get_field("MRES") def get_phase(self): @@ -376,38 +369,6 @@ class TMC5160: gcode.respond_info( "Run Current: %0.2fA Hold Current: %0.2fA" % (run_current, hold_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') - logging.info("DUMP_TMC %s", self.name) - gcode.respond_info("========== Write-only registers ==========") - for reg_name, val in self.regs.items(): - if reg_name not in ReadRegisters: - gcode.respond_info(self.fields.pretty_format(reg_name, val)) - 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 5160 %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 TMC5160 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): return TMC5160(config)