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tmc: Simplify TMCCommandHelper() error checking

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Move shutdown checking from _do_enable() and _dos_disable() to new
enable_disable_cb().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-12-29 14:03:47 -05:00
parent db35e99ea1
commit d5ef924751
1 changed files with 30 additions and 32 deletions
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62
klippy/extras/tmc.py
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@ -442,42 +442,40 @@ class TMCCommandHelper:
self.mcu_phase_offset = moff
# Stepper enable/disable tracking
def _do_enable(self, print_time):
try:
if self.toff is not None:
# Shared enable via comms handling
self.fields.set_field("toff", self.toff)
self._init_registers()
did_reset = self.echeck_helper.start_checks()
if did_reset:
self.mcu_phase_offset = None
# Calculate phase offset
if self.toff is not None:
# Shared enable via comms handling
self.fields.set_field("toff", self.toff)
self._init_registers()
did_reset = self.echeck_helper.start_checks()
if did_reset:
self.mcu_phase_offset = None
# Calculate phase offset
if self.mcu_phase_offset is not None:
return
gcode = self.printer.lookup_object("gcode")
with gcode.get_mutex():
if self.mcu_phase_offset is not None:
return
gcode = self.printer.lookup_object("gcode")
with gcode.get_mutex():
if self.mcu_phase_offset is not None:
return
logging.info("Pausing toolhead to calculate %s phase offset",
self.stepper_name)
self.printer.lookup_object('toolhead').wait_moves()
self._handle_sync_mcu_pos(self.stepper)
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
logging.info("Pausing toolhead to calculate %s phase offset",
self.stepper_name)
self.printer.lookup_object('toolhead').wait_moves()
self._handle_sync_mcu_pos(self.stepper)
def _do_disable(self, print_time):
try:
if self.toff is not None:
val = self.fields.set_field("toff", 0)
reg_name = self.fields.lookup_register("toff")
self.mcu_tmc.set_register(reg_name, val, print_time)
self.echeck_helper.stop_checks()
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
if self.toff is not None:
val = self.fields.set_field("toff", 0)
reg_name = self.fields.lookup_register("toff")
self.mcu_tmc.set_register(reg_name, val, print_time)
self.echeck_helper.stop_checks()
def _handle_stepper_enable(self, print_time, is_enable):
if is_enable:
cb = (lambda ev: self._do_enable(print_time))
else:
cb = (lambda ev: self._do_disable(print_time))
self.printer.get_reactor().register_callback(cb)
def enable_disable_cb(eventtime):
try:
if is_enable:
self._do_enable(print_time)
else:
self._do_disable(print_time)
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
self.printer.get_reactor().register_callback(enable_disable_cb)
# Initial startup handling
def _handle_mcu_identify(self):
# Lookup stepper object