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tmc2130: add SET_TMC_CURRENT and SET_TMC_FIELD commands (#1419)

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Signed-off-by: Frank Kang <amblidex@outlook.com>
This commit is contained in:
amblidex 2019-03-22 18:37:03 -06:00 • committed by KevinOConnor
parent 7a344acde8
commit 0980b7e4ec
3 changed files with 132 additions and 12 deletions
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55
klippy/extras/tmc2208.py
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@ -269,9 +269,15 @@ class TMC2208:
self.mcu.register_config_callback(self.build_config)
# Add DUMP_TMC, INIT_TMC command
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)
@ -282,7 +288,8 @@ class TMC2208:
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
vsense, irun, ihold = tmc2130.get_config_current(config)
vsense, irun, ihold, self.sense_resistor = \
tmc2130.get_config_current(config)
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
@ -351,6 +358,40 @@ class TMC2208:
def get_phase(self):
mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
return mscnt >> self.fields.get_field("MRES")
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2208 driver"
def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode')
vsense = bool(self.fields.get_field("vsense"))
if 'HOLDCURRENT' in params:
hold_current = gcode.get_float(
'HOLDCURRENT', params, above=0., maxval=2.)
else:
hold_current = tmc2130.bits_to_current(
self.fields.get_field("IHOLD"),
self.sense_resistor,
vsense)
if 'CURRENT' in params:
run_current = gcode.get_float(
'CURRENT', params, minval=hold_current, maxval=2.)
else:
run_current = tmc2130.bits_to_current(
self.fields.get_field("IRUN"),
self.sense_resistor,
vsense)
if 'HOLDCURRENT' in params or 'CURRENT' in params:
vsense_calc, irun, ihold = tmc2130.calc_current_config(run_current,
hold_current, self.sense_resistor)
self.printer.lookup_object('toolhead').wait_moves()
if (vsense_calc != vsense):
self.fields.set_field("vsense", vsense_calc)
self.set_register("CHOPCONF", self.regs["CHOPCONF"])
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"])
else:
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()
@ -377,6 +418,18 @@ class TMC2208:
logging.info("INIT_TMC 2208 %s", self.name)
self.printer.lookup_object('toolhead').wait_moves()
self._init_registers()
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2208 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[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
self.printer.lookup_object('toolhead').wait_moves()
self.set_register(reg, self.regs[reg])
def load_config_prefix(config):
return TMC2208(config)