diff options
| -rw-r--r-- | klippy/extras/tmc.py | 4 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 8 | ||||
| -rw-r--r-- | klippy/extras/tmc2660.py | 17 | ||||
| -rw-r--r-- | klippy/extras/tmc_uart.py | 6 |
4 files changed, 21 insertions, 14 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 46b9a8cf..f0a9ad38 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -96,7 +96,7 @@ class TMCCommandHelper: self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) self.printer.register_event_handler("klippy:connect", self._handle_connect) - def _init_registers(self, print_time): + def _init_registers(self, print_time=None): # Send registers for reg_name, val in self.fields.registers.items(): self.mcu_tmc.set_register(reg_name, val, print_time) @@ -104,7 +104,7 @@ class TMCCommandHelper: retry_count = 0 while 1: try: - self._init_registers(0.) + self._init_registers() return except self.printer.command_error as e: logging.exception("TMC init error") diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 4dce19c9..bb235962 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -186,12 +186,14 @@ class MCU_TMC_SPI: params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00]) pr = bytearray(params['response']) return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] - def set_register(self, reg_name, val, print_time=0.): - min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + def set_register(self, reg_name, val, print_time=None): + minclock = 0 + if print_time is not None: + minclock = self.spi.get_mcu().print_time_to_clock(print_time) reg = Registers[reg_name] data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff] - self.spi.spi_send(data, min_clock) + self.spi.spi_send(data, minclock) ###################################################################### diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index 893f8d1b..cb9b6c86 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -169,7 +169,8 @@ class TMC2660CurrentHelper: return vsense, cs def handle_printing(self, print_time): - self.set_current(0., self.current) # workaround + print_time -= 0.100 # Schedule slightly before deadline + self.set_current(print_time, self.current) def handle_ready(self, print_time): self.set_current(print_time, (float(self.idle_current_percentage) @@ -213,15 +214,17 @@ class MCU_TMC2660_SPI: val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name)) if self.printer.get_start_args().get('debugoutput') is not None: return 0 - params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff, - (val >> 8) & 0xff, val & 0xff]) + msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] + params = self.spi.spi_transfer(msg) pr = bytearray(params['response']) return (pr[0] << 16) | (pr[1] << 8) | pr[2] - def set_register(self, reg_name, val, print_time=0.): - min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + def set_register(self, reg_name, val, print_time=None): + minclock = 0 + if print_time is not None: + minclock = self.spi.get_mcu().print_time_to_clock(print_time) reg = self.name_to_reg[reg_name] - self.spi.spi_send([((val >> 16) | reg) & 0xff, - (val >> 8) & 0xff, val & 0xff], min_clock) + msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] + self.spi.spi_send(msg, minclock) ###################################################################### diff --git a/klippy/extras/tmc_uart.py b/klippy/extras/tmc_uart.py index 288fb76d..f5584e8b 100644 --- a/klippy/extras/tmc_uart.py +++ b/klippy/extras/tmc_uart.py @@ -149,8 +149,10 @@ class MCU_TMC_uart_bitbang: params = self.tmcuart_send_cmd.send_with_response( [self.oid, msg, 10], 'tmcuart_response', self.oid) return self._decode_read(reg, params['read']) - def reg_write(self, instance_id, addr, reg, val, print_time=0.): - minclock = self.mcu.print_time_to_clock(print_time) + def reg_write(self, instance_id, addr, reg, val, print_time=None): + minclock = 0 + if print_time is not None: + minclock = self.mcu.print_time_to_clock(print_time) if self.analog_mux is not None: self.analog_mux.activate(instance_id) msg = self._encode_write(0xf5, 0x00, reg | 0x80, val) |