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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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26
klippy/extras/tmc5160.py
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@@ -244,10 +244,6 @@ class TMC5160CurrentHelper:
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
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 _set_globalscaler(self, current):
globalscaler = int((current * 256. * math.sqrt(2.)
* self.sense_resistor / VREF) + .5)
@@ -283,24 +279,6 @@ class TMC5160CurrentHelper:
self.fields.set_field("IHOLD", ihold)
val = self.fields.set_field("IRUN", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
prev_run_current, prev_hold_current, max_current = self.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
if run_current is None and hold_current is None:
# Query only
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
return
if run_current is None:
run_current = prev_run_current
if hold_current is None:
hold_current = prev_hold_current
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_current(run_current, hold_current, print_time)
######################################################################
@@ -315,7 +293,8 @@ class TMC5160:
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = TMC5160CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
@@ -345,7 +324,6 @@ class TMC5160:
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# IHOLDIRUN
TMC5160CurrentHelper(config, self.mcu_tmc)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)