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tmc: SET_TMC_FIELD VELOCITY

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Ability to specify `VELOCITY` as a parameter for SET_TMC_FIELD. Useful for configuring at runtime the TSTEP based fields of the driver.

Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
This commit is contained in:
Alex Voinea 2023-03-16 13:11:34 +01:00 • committed by KevinOConnor
parent 0469710a69
commit 73f4c6cd00
9 changed files with 37 additions and 10 deletions
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13
klippy/extras/tmc.py
View file

@ -258,7 +258,18 @@ class TMCCommandHelper:
reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None:
raise gcmd.error("Unknown field name '%s'" % (field_name,))
value = gcmd.get_int('VALUE')
value = gcmd.get_int('VALUE', None)
velocity = gcmd.get_float('VELOCITY', None, minval=0.)
tmc_frequency = self.mcu_tmc.get_tmc_frequency()
if tmc_frequency is None and velocity is not None:
raise gcmd.error("VELOCITY parameter not supported by this driver")
if (value is None) == (velocity is None):
raise gcmd.error("Specify either VALUE or VELOCITY")
if velocity is not None:
step_dist = self.stepper.get_step_dist()
mres = self.fields.get_field("mres")
value = TMCtstepHelper(step_dist, mres, tmc_frequency,
velocity)
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)

8
klippy/extras/tmc2130.py
View file

@ -248,13 +248,14 @@ def lookup_tmc_spi_chain(config):
# Helper code for working with TMC devices via SPI
class MCU_TMC_SPI:
def __init__(self, config, name_to_reg, fields):
def __init__(self, config, name_to_reg, fields, tmc_frequency):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
self.mutex = self.tmc_spi.mutex
self.name_to_reg = name_to_reg
self.fields = fields
self.tmc_frequency = tmc_frequency
def get_fields(self):
return self.fields
def get_register(self, reg_name):
@ -271,6 +272,8 @@ class MCU_TMC_SPI:
return
raise self.printer.command_error(
"Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
def get_tmc_frequency(self):
return self.tmc_frequency
######################################################################
@ -281,7 +284,8 @@ class TMC2130:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

3
klippy/extras/tmc2208.py
View file

@ -186,7 +186,8 @@ class TMC2208:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 0,
TMC_FREQUENCY)
self.fields.set_field("pdn_disable", True)
# Register commands
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)

3
klippy/extras/tmc2209.py
View file

@ -58,7 +58,8 @@ class TMC2209:
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3,
TMC_FREQUENCY)
# Setup fields for UART
self.fields.set_field("pdn_disable", True)
self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart

3
klippy/extras/tmc2240.py
View file

@ -343,7 +343,8 @@ class TMC2240:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

2
klippy/extras/tmc2660.py
View file

@ -221,6 +221,8 @@ class MCU_TMC2660_SPI:
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
self.spi.spi_send(msg, minclock)
def get_tmc_frequency(self):
return None
######################################################################

3
klippy/extras/tmc5160.py
View file

@ -316,7 +316,8 @@ class TMC5160:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

5
klippy/extras/tmc_uart.py
View file

@ -210,7 +210,7 @@ def lookup_tmc_uart_bitbang(config, max_addr):
# Helper code for communicating via TMC uart
class MCU_TMC_uart:
def __init__(self, config, name_to_reg, fields, max_addr=0):
def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.name_to_reg = name_to_reg
@ -219,6 +219,7 @@ class MCU_TMC_uart:
self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
config, max_addr)
self.mutex = self.mcu_uart.mutex
self.tmc_frequency = tmc_frequency
def get_fields(self):
return self.fields
def _do_get_register(self, reg_name):
@ -250,3 +251,5 @@ class MCU_TMC_uart:
return
raise self.printer.command_error(
"Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
def get_tmc_frequency(self):
return self.tmc_frequency