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tmc2130: Verify SPI register writes

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The tmc2130 (and tmc5160) will respond back with the value written
during the next SPI command.  Use this feature to verify that the
value written matches the value sent.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-10 13:55:14 -05:00
parent 3ea2e4fc58
commit 7dd2bf4af3
4 changed files with 41 additions and 11 deletions
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19
klippy/extras/tmc2130.py
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@ -183,7 +183,17 @@ class MCU_TMC_SPI_chain:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(self._build_cmd(data, chain_pos), minclock)
if self.printer.get_start_args().get('debugoutput') is not None:
self.spi.spi_send(self._build_cmd(data, chain_pos), minclock)
return val
write_cmd = self._build_cmd(data, chain_pos)
dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos)
params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read,
minclock=minclock)
pr = bytearray(params['response'])
pr = pr[(self.chain_len - chain_pos) * 5 :
(self.chain_len - chain_pos + 1) * 5]
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
# Helper to setup an spi daisy chain bus from settings in a config section
def lookup_tmc_spi_chain(config):
@ -225,7 +235,12 @@ class MCU_TMC_SPI:
def set_register(self, reg_name, val, print_time=None):
reg = self.name_to_reg[reg_name]
with self.mutex:
self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time)
for retry in range(5):
v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time)
if v == val:
return
raise self.printer.command_error(
"Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
######################################################################