tmc: SET_TMC_FIELD VELOCITY

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>

1 files changed, 6 insertions, 2 deletions

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index c78b0431..62a9abbf 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -248,13 +248,14 @@ def lookup_tmc_spi_chain(config):
 
 # Helper code for working with TMC devices via SPI
 class MCU_TMC_SPI:
-    def __init__(self, config, name_to_reg, fields):
+    def __init__(self, config, name_to_reg, fields, tmc_frequency):
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
         self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
         self.mutex = self.tmc_spi.mutex
         self.name_to_reg = name_to_reg
         self.fields = fields
+        self.tmc_frequency = tmc_frequency
     def get_fields(self):
         return self.fields
     def get_register(self, reg_name):
@@ -271,6 +272,8 @@ class MCU_TMC_SPI:
                     return
         raise self.printer.command_error(
             "Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
+    def get_tmc_frequency(self):
+        return self.tmc_frequency
 
 
 ######################################################################
@@ -281,7 +284,8 @@ class TMC2130:
     def __init__(self, config):
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
+        self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields,
+                                   TMC_FREQUENCY)
         # Allow virtual pins to be created
         tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands