diff options
| -rw-r--r-- | docs/Status_Reference.md | 15 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 26 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc2208.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc2209.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc2660.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc5160.py | 1 |
7 files changed, 45 insertions, 1 deletions
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md index 969f8704..68abf2f6 100644 --- a/docs/Status_Reference.md +++ b/docs/Status_Reference.md @@ -311,6 +311,21 @@ objects: temperature seen by the sensor since the Klipper host software was last restarted. +## tmc drivers + +The following information is available in +[TMC stepper driver](Config_Reference.md#tmc-stepper-driver-configuration) +objects (eg, `[tmc2208 stepper_x]`): +- `mcu_phase_offset`: The micro-controller stepper position + corresponding with the driver's "zero" phase. This field may be null + if the phase offset is not known. +- `phase_offset_position`: The "commanded position" corresponding to + the driver's "zero" phase. This field may be null if the phase + offset is not known. +- `drv_status`: The results of the last driver status query. (Only + non-zero fields are reported.) This field will be null if the driver + is not enabled (and thus is not periodically queried). + ## toolhead The following information is available in the `toolhead` object diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 0279a040..f8eae1cf 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -74,6 +74,11 @@ class FieldHelper: if sval and sval != "0": fields.append(" %s=%s" % (field_name, sval)) return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields)) + def get_reg_fields(self, reg_name, reg_value): + # Provide fields found in a register + reg_fields = self.all_fields.get(reg_name, {}) + return {field_name: self.get_field(field_name, reg_value, reg_name) + for field_name, mask in reg_fields.items()} ###################################################################### @@ -88,6 +93,7 @@ class TMCErrorCheck: self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() self.check_timer = None + self.last_drv_status = self.last_status = None # Setup for GSTAT query reg_name = self.fields.lookup_register("drv_err") if reg_name is not None: @@ -134,7 +140,7 @@ class TMCErrorCheck: if val & mask != last_value & mask: fmt = self.fields.pretty_format(reg_name, val) logging.info("TMC '%s' reports %s", self.stepper_name, fmt) - reg_info[0] = last_value = val + reg_info[0] = last_value = val if not val & err_mask: if not cs_actual_mask or val & cs_actual_mask: break @@ -186,6 +192,16 @@ class TMCErrorCheck: if cleared_flags & reset_mask: return True return False + def get_status(self, eventtime=None): + if self.check_timer is None: + return {'drv_status': None} + last_value, reg_name = self.drv_status_reg_info[:2] + if last_value != self.last_drv_status: + self.last_drv_status = last_value + fields = self.fields.get_reg_fields(reg_name, last_value) + fields = {n: v for n, v in fields.items() if v} + self.last_status = {'drv_status': fields} + return self.last_status ###################################################################### @@ -353,6 +369,14 @@ class TMCCommandHelper: self._init_registers() except self.printer.command_error as e: logging.info("TMC %s failed to init: %s", self.name, str(e)) + # get_status information export + def get_status(self, eventtime=None): + if self.stepper is not None and self.mcu_phase_offset is not None: + cpos = self.stepper.mcu_to_commanded_position(self.mcu_phase_offset) + res = {'mcu_phase_offset': self.mcu_phase_offset, + 'phase_offset_position': cpos} + res.update(self.echeck_helper.get_status(eventtime)) + return res # DUMP_TMC support def setup_register_dump(self, read_registers, read_translate=None): self.read_registers = read_registers diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index b23b2a64..c29622ec 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -261,6 +261,7 @@ class TMC2130: cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters) self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status # Setup basic register values tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) # Allow other registers to be set from the config diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index fcc957a5..1b5968a9 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -193,6 +193,7 @@ class TMC2208: cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters, self.read_translate) self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status # Setup basic register values self.fields.set_field("mstep_reg_select", True) self.fields.set_field("multistep_filt", True) diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py index e0d64c31..64bf195b 100644 --- a/klippy/extras/tmc2209.py +++ b/klippy/extras/tmc2209.py @@ -69,6 +69,7 @@ class TMC2209: cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters) self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status # Setup basic register values self.fields.set_field("pdn_disable", True) self.fields.set_field("mstep_reg_select", True) diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index 8cb1d1c1..52aa2e42 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -230,6 +230,7 @@ class TMC2660: cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters) self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status # CHOPCONF set_config_field = self.fields.set_config_field diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index 76c939d4..fae17226 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -295,6 +295,7 @@ class TMC5160: cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper) cmdhelper.setup_register_dump(ReadRegisters) self.get_phase_offset = cmdhelper.get_phase_offset + self.get_status = cmdhelper.get_status # Setup basic register values tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY) # CHOPCONF |