diff options
| -rw-r--r-- | docs/G-Codes.md | 7 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 13 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 8 | ||||
| -rw-r--r-- | klippy/extras/tmc2208.py | 3 | ||||
| -rw-r--r-- | klippy/extras/tmc2209.py | 3 | ||||
| -rw-r--r-- | klippy/extras/tmc2240.py | 3 | ||||
| -rw-r--r-- | klippy/extras/tmc2660.py | 2 | ||||
| -rw-r--r-- | klippy/extras/tmc5160.py | 3 | ||||
| -rw-r--r-- | klippy/extras/tmc_uart.py | 5 |
9 files changed, 37 insertions, 10 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 48b074e6..b28f8ab6 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -1236,13 +1236,16 @@ if StealthChop2 is used, the stepper must be held at standstill for >130ms so that the driver executes the AT#1 calibration. #### SET_TMC_FIELD -`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will -alter the value of the specified register field of the TMC driver. +`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value> VELOCITY=<value>`: +This will alter the value of the specified register field of the TMC driver. This command is intended for low-level diagnostics and debugging only because changing the fields during run-time can lead to undesired and potentially dangerous behavior of your printer. Permanent changes should be made using the printer configuration file instead. No sanity checks are performed for the given values. +A VELOCITY can also be specified instead of a VALUE. This velocity is +converted to the 20bit TSTEP based value representation. Only use the VELOCITY +argument for fields that represent velocities. ### [toolhead] 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 |