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tmc: Move SET_TMC_CURRENT command to TMCCommandHelper()

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Refactor the tmc driver implementations so that there is a single
implementation of the SET_TMC_CURRENT command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-20 13:42:16 -05:00
parent a657aab0bf
commit 6e4270fa79
6 changed files with 37 additions and 68 deletions
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17
klippy/extras/tmc2660.py
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@@ -149,11 +149,6 @@ class TMC2660CurrentHelper:
self.printer.register_event_handler("idle_timeout:ready",
self._handle_ready)
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)
def _calc_current_bits(self, current, vsense):
vref = 0.165 if vsense else 0.310
cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
@@ -194,14 +189,6 @@ class TMC2660CurrentHelper:
self.current = run_current
self._update_current(run_current, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
cur = gcmd.get_float('CURRENT', None, minval=0.1, maxval=MAX_CURRENT)
if cur is None:
return
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_current(cur, None, print_time)
######################################################################
# TMC2660 SPI
@@ -248,7 +235,8 @@ class TMC2660:
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# DRVCTRL
@@ -278,7 +266,6 @@ class TMC2660:
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
TMC2660CurrentHelper(config, self.mcu_tmc)
# DRVCONF
set_config_field(config, "SLPH", 0)