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>

8 files changed, 32 insertions, 8 deletions

diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index f9f2d150..36c27d5c 100644
--- a/klippy/extras/tmc.py
+++ b/klippy/extras/tmc.py
@@ -258,7 +258,18 @@ class TMCCommandHelper:
         reg_name = self.fields.lookup_register(field_name, None)
         if reg_name is None:
             raise gcmd.error("Unknown field name '%s'" % (field_name,))
-        value = gcmd.get_int('VALUE')
+        value = gcmd.get_int('VALUE', None)
+        velocity = gcmd.get_float('VELOCITY', None, minval=0.)
+        tmc_frequency = self.mcu_tmc.get_tmc_frequency()
+        if tmc_frequency is None and velocity is not None:
+            raise gcmd.error("VELOCITY parameter not supported by this driver")
+        if (value is None) == (velocity is None):
+            raise gcmd.error("Specify either VALUE or VELOCITY")
+        if velocity is not None:
+            step_dist = self.stepper.get_step_dist()
+            mres = self.fields.get_field("mres")
+            value = TMCtstepHelper(step_dist, mres, tmc_frequency,
+                                   velocity)
         reg_val = self.fields.set_field(field_name, value)
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
         self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index 7cea109e..bedf8092 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -186,7 +186,8 @@ class TMC2208:
     def __init__(self, config):
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
+        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 0,
+                                             TMC_FREQUENCY)
         self.fields.set_field("pdn_disable", True)
         # Register commands
         current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py
index 843b32aa..1afa280c 100644
--- a/klippy/extras/tmc2209.py
+++ b/klippy/extras/tmc2209.py
@@ -58,7 +58,8 @@ class TMC2209:
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
                                       FieldFormatters)
-        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
+        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3,
+                                             TMC_FREQUENCY)
         # Setup fields for UART
         self.fields.set_field("pdn_disable", True)
         self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py
index f3ae9a57..1bc4c1ca 100644
--- a/klippy/extras/tmc2240.py
+++ b/klippy/extras/tmc2240.py
@@ -343,7 +343,8 @@ class TMC2240:
     def __init__(self, config):
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
+        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
+                                           TMC_FREQUENCY)
         # Allow virtual pins to be created
         tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
index e873c608..dcffac75 100644
--- a/klippy/extras/tmc2660.py
+++ b/klippy/extras/tmc2660.py
@@ -221,6 +221,8 @@ class MCU_TMC2660_SPI:
         msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
         with self.mutex:
             self.spi.spi_send(msg, minclock)
+    def get_tmc_frequency(self):
+        return None
 
 
 ######################################################################
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index c62c1e8b..0e7acf60 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -316,7 +316,8 @@ class TMC5160:
     def __init__(self, config):
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
+        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
+                                           TMC_FREQUENCY)
         # Allow virtual pins to be created
         tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
diff --git a/klippy/extras/tmc_uart.py b/klippy/extras/tmc_uart.py
index fe51303e..4d5ec1d5 100644
--- a/klippy/extras/tmc_uart.py
+++ b/klippy/extras/tmc_uart.py
@@ -210,7 +210,7 @@ def lookup_tmc_uart_bitbang(config, max_addr):
 
 # Helper code for communicating via TMC uart
 class MCU_TMC_uart:
-    def __init__(self, config, name_to_reg, fields, max_addr=0):
+    def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
         self.name_to_reg = name_to_reg
@@ -219,6 +219,7 @@ class MCU_TMC_uart:
         self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
             config, max_addr)
         self.mutex = self.mcu_uart.mutex
+        self.tmc_frequency = tmc_frequency
     def get_fields(self):
         return self.fields
     def _do_get_register(self, reg_name):
@@ -250,3 +251,5 @@ class MCU_TMC_uart:
                     return
         raise self.printer.command_error(
             "Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
+    def get_tmc_frequency(self):
+        return self.tmc_frequency