diff options
| -rw-r--r-- | klippy/extras/bus.py | 10 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 19 | ||||
| -rw-r--r-- | klippy/mcu.py | 14 | ||||
| -rw-r--r-- | klippy/serialhdl.py | 9 |
4 files changed, 41 insertions, 11 deletions
diff --git a/klippy/extras/bus.py b/klippy/extras/bus.py index 09259b9f..9b3e476a 100644 --- a/klippy/extras/bus.py +++ b/klippy/extras/bus.py @@ -92,8 +92,14 @@ class MCU_SPI: return self.spi_send_cmd.send([self.oid, data], minclock=minclock, reqclock=reqclock) - def spi_transfer(self, data): - return self.spi_transfer_cmd.send([self.oid, data]) + def spi_transfer(self, data, minclock=0, reqclock=0): + return self.spi_transfer_cmd.send([self.oid, data], + minclock=minclock, reqclock=reqclock) + def spi_transfer_with_preface(self, preface_data, data, + minclock=0, reqclock=0): + return self.spi_transfer_cmd.send_with_preface( + self.spi_send_cmd, [self.oid, preface_data], [self.oid, data], + minclock=minclock, reqclock=reqclock) # Helper to setup an spi bus from settings in a config section def MCU_SPI_from_config(config, mode, pin_option="cs_pin", diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index e827b32a..38405b21 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -183,7 +183,17 @@ class MCU_TMC_SPI_chain: minclock = self.spi.get_mcu().print_time_to_clock(print_time) data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff] - self.spi.spi_send(self._build_cmd(data, chain_pos), minclock) + if self.printer.get_start_args().get('debugoutput') is not None: + self.spi.spi_send(self._build_cmd(data, chain_pos), minclock) + return val + write_cmd = self._build_cmd(data, chain_pos) + dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos) + params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read, + minclock=minclock) + pr = bytearray(params['response']) + pr = pr[(self.chain_len - chain_pos) * 5 : + (self.chain_len - chain_pos + 1) * 5] + return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] # Helper to setup an spi daisy chain bus from settings in a config section def lookup_tmc_spi_chain(config): @@ -225,7 +235,12 @@ class MCU_TMC_SPI: def set_register(self, reg_name, val, print_time=None): reg = self.name_to_reg[reg_name] with self.mutex: - self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time) + for retry in range(5): + v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time) + if v == val: + return + raise self.printer.command_error( + "Unable to write tmc spi '%s' register %s" % (self.name, reg_name)) ###################################################################### diff --git a/klippy/mcu.py b/klippy/mcu.py index 7c6529a2..93e71572 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -347,7 +347,8 @@ class RetryAsyncCommand: if params['#sent_time'] >= self.min_query_time: self.min_query_time = self.reactor.NEVER self.reactor.async_complete(self.completion, params) - def get_response(self, cmd, cmd_queue, minclock=0, reqclock=0): + def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0): + cmd, = cmds self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue) first_query_time = query_time = self.reactor.monotonic() while 1: @@ -378,14 +379,19 @@ class CommandQueryWrapper: if cmd_queue is None: cmd_queue = serial.get_default_command_queue() self._cmd_queue = cmd_queue - def send(self, data=(), minclock=0, reqclock=0): - cmd = self._cmd.encode(data) + def _do_send(self, cmds, minclock, reqclock): xh = self._xmit_helper(self._serial, self._response, self._oid) reqclock = max(minclock, reqclock) try: - return xh.get_response(cmd, self._cmd_queue, minclock, reqclock) + return xh.get_response(cmds, self._cmd_queue, minclock, reqclock) except serialhdl.error as e: raise self._error(str(e)) + def send(self, data=(), minclock=0, reqclock=0): + return self._do_send([self._cmd.encode(data)], minclock, reqclock) + def send_with_preface(self, preface_cmd, preface_data=(), data=(), + minclock=0, reqclock=0): + cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)] + return self._do_send(cmds, minclock, reqclock) # Wrapper around command sending class CommandWrapper: diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py index c9eccb50..d17993b9 100644 --- a/klippy/serialhdl.py +++ b/klippy/serialhdl.py @@ -199,7 +199,7 @@ class SerialReader: def send_with_response(self, msg, response): cmd = self.msgparser.create_command(msg) src = SerialRetryCommand(self, response) - return src.get_response(cmd, self.default_cmd_queue) + return src.get_response([cmd], self.default_cmd_queue) def alloc_command_queue(self): return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(), self.ffi_lib.serialqueue_free_commandqueue) @@ -249,11 +249,14 @@ class SerialRetryCommand: self.serial.register_response(self.handle_callback, name, oid) def handle_callback(self, params): self.last_params = params - def get_response(self, cmd, cmd_queue, minclock=0, reqclock=0): + def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0): retries = 5 retry_delay = .010 while 1: - self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue) + for cmd in cmds[:-1]: + self.serial.raw_send(cmd, minclock, reqclock, cmd_queue) + self.serial.raw_send_wait_ack(cmds[-1], minclock, reqclock, + cmd_queue) params = self.last_params if params is not None: self.serial.register_response(None, self.name, self.oid) |