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tmc2660: Add INIT_TMC and SET_TMC_FIELD gcodes

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Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann
2019-03-05 19:04:59 +00:00
committed by KevinOConnor
parent 8e17df5d78
commit 789379e95b
2 changed files with 45 additions and 5 deletions
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33
klippy/extras/tmc2660.py
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@@ -3,7 +3,7 @@
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, collections
import math, collections, logging
import bus, tmc2130
def current_to_reg(current, sense_resistor, vsense_on):
@@ -134,6 +134,12 @@ class TMC2660:
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 driver registers
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
@@ -178,7 +184,7 @@ class TMC2660:
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
self.current = config.getfloat('run_current', minval=0.1,
self.current = config.getfloat('run_current', minval=0.1,
maxval=2.4)
self.driver_cs = current_to_reg(self.current,
self.sense_resistor, self.fields.get_field("VSENSE"))
@@ -259,5 +265,28 @@ class TMC2660:
msg = self.fields.pretty_format(return_format, self.get_response())
gcode.respond_info(msg)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2660 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 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)
if field == "CS":
raise gcode.error("Use SET_TMC_CURRENT to set CS")
reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register(reg, self.regs[reg], min_clock=clock)
def load_config_prefix(config):
return TMC2660(config)