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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
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@ -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)