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tmc: Add support for a get_status() method

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Export mcu_phase_offset and drv_status information.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-27 19:24:14 -04:00
parent 950477849d
commit 5fd1c9853d
7 changed files with 45 additions and 1 deletions
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15
docs/Status_Reference.md
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@ -311,6 +311,21 @@ objects:
temperature seen by the sensor since the Klipper host software was
last restarted.
## tmc drivers
The following information is available in
[TMC stepper driver](Config_Reference.md#tmc-stepper-driver-configuration)
objects (eg, `[tmc2208 stepper_x]`):
- `mcu_phase_offset`: The micro-controller stepper position
corresponding with the driver's "zero" phase. This field may be null
if the phase offset is not known.
- `phase_offset_position`: The "commanded position" corresponding to
the driver's "zero" phase. This field may be null if the phase
offset is not known.
- `drv_status`: The results of the last driver status query. (Only
non-zero fields are reported.) This field will be null if the driver
is not enabled (and thus is not periodically queried).
## toolhead
The following information is available in the `toolhead` object