tmc: add enriched UART read

Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>

1 files changed, 14 insertions, 6 deletions

diff --git a/klippy/extras/tmc_uart.py b/klippy/extras/tmc_uart.py
index 4d5ec1d5..93935042 100644
--- a/klippy/extras/tmc_uart.py
+++ b/klippy/extras/tmc_uart.py
@@ -175,7 +175,10 @@ class MCU_TMC_uart_bitbang:
             self.analog_mux.activate(instance_id)
         msg = self._encode_read(0xf5, addr, reg)
         params = self.tmcuart_send_cmd.send([self.oid, msg, 10])
-        return self._decode_read(reg, params['read'])
+        return {
+            'data': self._decode_read(reg, params['read']),
+            '#receive_time': params['#receive_time']
+        }
     def reg_write(self, instance_id, addr, reg, val, print_time=None):
         minclock = 0
         if print_time is not None:
@@ -225,16 +228,21 @@ class MCU_TMC_uart:
     def _do_get_register(self, reg_name):
         reg = self.name_to_reg[reg_name]
         if self.printer.get_start_args().get('debugoutput') is not None:
-            return 0
+            return {
+                'data': 0,
+                '#receive_time': 0.
+            }
         for retry in range(5):
             val = self.mcu_uart.reg_read(self.instance_id, self.addr, reg)
-            if val is not None:
+            if val['data'] is not None:
                 return val
         raise self.printer.command_error(
             "Unable to read tmc uart '%s' register %s" % (self.name, reg_name))
-    def get_register(self, reg_name):
+    def get_register_raw(self, reg_name):
         with self.mutex:
             return self._do_get_register(reg_name)
+    def get_register(self, reg_name):
+        return self.get_register_raw(reg_name)['data']
     def set_register(self, reg_name, val, print_time=None):
         reg = self.name_to_reg[reg_name]
         if self.printer.get_start_args().get('debugoutput') is not None:
@@ -243,10 +251,10 @@ class MCU_TMC_uart:
             for retry in range(5):
                 ifcnt = self.ifcnt
                 if ifcnt is None:
-                    self.ifcnt = ifcnt = self._do_get_register("IFCNT")
+                    self.ifcnt = ifcnt = self._do_get_register("IFCNT")['data']
                 self.mcu_uart.reg_write(self.instance_id, self.addr, reg, val,
                                         print_time)
-                self.ifcnt = self._do_get_register("IFCNT")
+                self.ifcnt = self._do_get_register("IFCNT")['data']
                 if self.ifcnt == (ifcnt + 1) & 0xff:
                     return
         raise self.printer.command_error(