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| author | Florian Heilmann <Florian.Heilmann@gmx.net> | 2019-03-05 19:04:59 +0000 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2019-03-08 11:04:14 -0500 |
| commit | 789379e95baea33b6b9bae889332b7286b6a227e (patch) | |
| tree | 0e6c31cb6afc0940327ba9eb3c7fd39e158036a1 /klippy | |
| parent | 8e17df5d781d00e3aac3aa66a287e05cda185608 (diff) | |
| download | kutter-789379e95baea33b6b9bae889332b7286b6a227e.tar.gz kutter-789379e95baea33b6b9bae889332b7286b6a227e.tar.xz kutter-789379e95baea33b6b9bae889332b7286b6a227e.zip | |
tmc2660: Add INIT_TMC and SET_TMC_FIELD gcodes
Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc2660.py | 33 |
1 files changed, 31 insertions, 2 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index 2aea8ac2..2135f356 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -3,7 +3,7 @@ # Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, collections +import math, collections, logging import bus, tmc2130 def current_to_reg(current, sense_resistor, vsense_on): @@ -134,6 +134,12 @@ class TMC2660: gcode.register_mux_command( "DUMP_TMC", "STEPPER", self.name, self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) + gcode.register_mux_command( + "SET_TMC_FIELD", "STEPPER", self.name, + self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) + gcode.register_mux_command( + "INIT_TMC", "STEPPER", self.name, + self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) # Setup driver registers self.regs = collections.OrderedDict() self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs) @@ -178,7 +184,7 @@ class TMC2660: # SGSCONF set_config_field(config, "SFILT", 1) set_config_field(config, "SGT", 0) - self.current = config.getfloat('run_current', minval=0.1, + self.current = config.getfloat('run_current', minval=0.1, maxval=2.4) self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.fields.get_field("VSENSE")) @@ -259,5 +265,28 @@ class TMC2660: msg = self.fields.pretty_format(return_format, self.get_response()) gcode.respond_info(msg) + cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" + def cmd_INIT_TMC(self, params): + logging.info("INIT_TMC 2660 %s", self.name) + print_time = self.printer.lookup_object('toolhead').get_last_move_time() + min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + self._init_registers(min_clock) + + cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver" + def cmd_SET_TMC_FIELD(self, params): + gcode = self.printer.lookup_object('gcode') + if ('FIELD' not in params or + 'VALUE' not in params): + raise gcode.error("Invalid command format") + field = gcode.get_str('FIELD', params) + if field == "CS": + raise gcode.error("Use SET_TMC_CURRENT to set CS") + reg = self.fields.field_to_register[field] + value = gcode.get_int('VALUE', params) + self.fields.set_field(field, value) + print_time = self.printer.lookup_object('toolhead').get_last_move_time() + clock = self.spi.get_mcu().print_time_to_clock(print_time) + self.set_register(reg, self.regs[reg], min_clock=clock) + def load_config_prefix(config): return TMC2660(config) |