diff options
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 36 |
1 files changed, 7 insertions, 29 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 9220ba95..28d0f2dc 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -4,6 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging +import bus TMC_FREQUENCY=13200000. GCONF_EN_PWM_MODE=1<<2 @@ -27,20 +28,10 @@ class TMC2130: def __init__(self, config): self.printer = config.get_printer() self.name = config.get_name().split()[1] - # pin setup - ppins = self.printer.lookup_object("pins") - cs_pin = config.get('cs_pin') - cs_pin_params = ppins.lookup_pin(cs_pin) - self.mcu = cs_pin_params['chip'] - pin = cs_pin_params['pin'] - self.oid = self.mcu.create_oid() - self.mcu.add_config_cmd( - "config_spi oid=%d bus=%d pin=%s mode=%d rate=%d shutdown_msg=" % ( - self.oid, 0, cs_pin_params['pin'], 3, 4000000)) - self.spi_send_cmd = self.spi_transfer_cmd = None - self.mcu.register_config_callback(self.build_config) + self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000) # Allow virtual endstop to be created self.diag1_pin = config.get('diag1_pin', None) + ppins = self.printer.lookup_object("pins") ppins.register_chip("tmc2130_" + self.name, self) # Add DUMP_TMC command gcode = self.printer.lookup_object("gcode") @@ -113,30 +104,17 @@ class TMC2130: if pin_params['invert'] or pin_params['pullup']: raise pins.error("Can not pullup/invert tmc2130 virtual endstop") return TMC2130VirtualEndstop(self) - def build_config(self): - cmd_queue = self.mcu.alloc_command_queue() - self.spi_send_cmd = self.mcu.lookup_command( - "spi_send oid=%c data=%*s", cq=cmd_queue) - self.spi_transfer_cmd = self.mcu.lookup_command( - "spi_transfer oid=%c data=%*s", cq=cmd_queue) def get_register(self, reg_name): reg = Registers[reg_name] - self.spi_send_cmd.send([self.oid, [reg, 0x00, 0x00, 0x00, 0x00]]) - params = self.spi_transfer_cmd.send_with_response( - [self.oid, [reg, 0x00, 0x00, 0x00, 0x00]], - 'spi_transfer_response', self.oid) + self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00]) + 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): reg = Registers[reg_name] - if self.spi_send_cmd is None: - # Setup register via chip initialization - self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % ( - self.oid, (reg | 0x80) & 0xff, val & 0xffffffff), is_init=True) - return data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff] - self.spi_send_cmd.send([self.oid, data]) + self.spi.spi_send(data) def get_microsteps(self): return 256 >> self.mres def get_phase(self): @@ -160,7 +138,7 @@ class TMC2130VirtualEndstop: raise pins.error("tmc2130 virtual endstop requires diag1_pin") ppins = tmc2130.printer.lookup_object('pins') self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin) - if self.mcu_endstop.get_mcu() is not tmc2130.mcu: + if self.mcu_endstop.get_mcu() is not tmc2130.spi.get_mcu(): raise pins.error("tmc2130 virtual endstop must be on same mcu") # Wrappers self.get_mcu = self.mcu_endstop.get_mcu |