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tmc: Move SET_TMC_CURRENT command to TMCCommandHelper()

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Refactor the tmc driver implementations so that there is a single
implementation of the SET_TMC_CURRENT command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-20 13:42:16 -05:00
parent a657aab0bf
commit 6e4270fa79
6 changed files with 37 additions and 68 deletions
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28
klippy/extras/tmc.py
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@ -81,11 +81,12 @@ class FieldHelper:
######################################################################
class TMCCommandHelper:
def __init__(self, config, mcu_tmc):
def __init__(self, config, mcu_tmc, current_helper):
self.printer = config.get_printer()
self.stepper_name = ' '.join(config.get_name().split()[1:])
self.name = config.get_name().split()[-1]
self.mcu_tmc = mcu_tmc
self.current_helper = current_helper
self.fields = mcu_tmc.get_fields()
self.read_registers = self.read_translate = None
self.toff = None
@ -99,6 +100,9 @@ class TMCCommandHelper:
gcode.register_mux_command("INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC,
desc=self.cmd_INIT_TMC_help)
gcode.register_mux_command("SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT,
desc=self.cmd_SET_TMC_CURRENT_help)
def _init_registers(self, print_time=None):
# Send registers
for reg_name, val in self.fields.registers.items():
@ -141,6 +145,28 @@ class TMCCommandHelper:
reg_val = self.fields.set_field(field_name, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.mcu_tmc.set_register(reg_name, reg_val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
ch = self.current_helper
prev_run_current, prev_hold_current, max_current = ch.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
if run_current is None and hold_current is None:
# Query only
if prev_hold_current is None:
gcmd.respond_info("Run Current: %0.2fA" % (prev_run_current,))
else:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
return
if run_current is None:
run_current = prev_run_current
if hold_current is None:
hold_current = prev_hold_current
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
ch.set_current(run_current, hold_current, print_time)
# Stepper enable/disable via comms
def _do_enable(self, print_time, is_enable):
toff_val = 0