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tmc: SET_TMC_FIELD VELOCITY

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Ability to specify `VELOCITY` as a parameter for SET_TMC_FIELD. Useful for configuring at runtime the TSTEP based fields of the driver.

Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
This commit is contained in:
Alex Voinea
2023-03-16 13:11:34 +01:00
committed by KevinOConnor
parent 0469710a69
commit 73f4c6cd00
9 changed files with 37 additions and 10 deletions
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8
klippy/extras/tmc2130.py
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@@ -248,13 +248,14 @@ def lookup_tmc_spi_chain(config):
# Helper code for working with TMC devices via SPI
class MCU_TMC_SPI:
def __init__(self, config, name_to_reg, fields):
def __init__(self, config, name_to_reg, fields, tmc_frequency):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
self.mutex = self.tmc_spi.mutex
self.name_to_reg = name_to_reg
self.fields = fields
self.tmc_frequency = tmc_frequency
def get_fields(self):
return self.fields
def get_register(self, reg_name):
@@ -271,6 +272,8 @@ class MCU_TMC_SPI:
return
raise self.printer.command_error(
"Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
def get_tmc_frequency(self):
return self.tmc_frequency
######################################################################
@@ -281,7 +284,8 @@ class TMC2130:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands