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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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26
klippy/extras/tmc.py
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@ -74,6 +74,11 @@ class FieldHelper:
if sval and sval != "0":
fields.append(" %s=%s" % (field_name, sval))
return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
def get_reg_fields(self, reg_name, reg_value):
# Provide fields found in a register
reg_fields = self.all_fields.get(reg_name, {})
return {field_name: self.get_field(field_name, reg_value, reg_name)
for field_name, mask in reg_fields.items()}
######################################################################
@ -88,6 +93,7 @@ class TMCErrorCheck:
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
self.check_timer = None
self.last_drv_status = self.last_status = None
# Setup for GSTAT query
reg_name = self.fields.lookup_register("drv_err")
if reg_name is not None:
@ -134,7 +140,7 @@ class TMCErrorCheck:
if val & mask != last_value & mask:
fmt = self.fields.pretty_format(reg_name, val)
logging.info("TMC '%s' reports %s", self.stepper_name, fmt)
reg_info[0] = last_value = val
reg_info[0] = last_value = val
if not val & err_mask:
if not cs_actual_mask or val & cs_actual_mask:
break
@ -186,6 +192,16 @@ class TMCErrorCheck:
if cleared_flags & reset_mask:
return True
return False
def get_status(self, eventtime=None):
if self.check_timer is None:
return {'drv_status': None}
last_value, reg_name = self.drv_status_reg_info[:2]
if last_value != self.last_drv_status:
self.last_drv_status = last_value
fields = self.fields.get_reg_fields(reg_name, last_value)
fields = {n: v for n, v in fields.items() if v}
self.last_status = {'drv_status': fields}
return self.last_status
######################################################################
@ -353,6 +369,14 @@ class TMCCommandHelper:
self._init_registers()
except self.printer.command_error as e:
logging.info("TMC %s failed to init: %s", self.name, str(e))
# get_status information export
def get_status(self, eventtime=None):
if self.stepper is not None and self.mcu_phase_offset is not None:
cpos = self.stepper.mcu_to_commanded_position(self.mcu_phase_offset)
res = {'mcu_phase_offset': self.mcu_phase_offset,
'phase_offset_position': cpos}
res.update(self.echeck_helper.get_status(eventtime))
return res
# DUMP_TMC support
def setup_register_dump(self, read_registers, read_translate=None):
self.read_registers = read_registers