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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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14
klippy/mcu.py
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@ -347,7 +347,8 @@ class RetryAsyncCommand:
if params['#sent_time'] >= self.min_query_time:
self.min_query_time = self.reactor.NEVER
self.reactor.async_complete(self.completion, params)
def get_response(self, cmd, cmd_queue, minclock=0, reqclock=0):
def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
cmd, = cmds
self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
first_query_time = query_time = self.reactor.monotonic()
while 1:
@ -378,14 +379,19 @@ class CommandQueryWrapper:
if cmd_queue is None:
cmd_queue = serial.get_default_command_queue()
self._cmd_queue = cmd_queue
def send(self, data=(), minclock=0, reqclock=0):
cmd = self._cmd.encode(data)
def _do_send(self, cmds, minclock, reqclock):
xh = self._xmit_helper(self._serial, self._response, self._oid)
reqclock = max(minclock, reqclock)
try:
return xh.get_response(cmd, self._cmd_queue, minclock, reqclock)
return xh.get_response(cmds, self._cmd_queue, minclock, reqclock)
except serialhdl.error as e:
raise self._error(str(e))
def send(self, data=(), minclock=0, reqclock=0):
return self._do_send([self._cmd.encode(data)], minclock, reqclock)
def send_with_preface(self, preface_cmd, preface_data=(), data=(),
minclock=0, reqclock=0):
cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)]
return self._do_send(cmds, minclock, reqclock)
# Wrapper around command sending
class CommandWrapper: