diff options
Diffstat (limited to 'klippy/extras/tmc2208.py')
| -rw-r--r-- | klippy/extras/tmc2208.py | 55 |
1 files changed, 54 insertions, 1 deletions
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index a6f954c5..4cb67e3e 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -270,9 +270,15 @@ class TMC2208: # Add DUMP_TMC, INIT_TMC command gcode = self.printer.lookup_object("gcode") gcode.register_mux_command( + "SET_TMC_CURRENT", "STEPPER", self.name, + self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) + gcode.register_mux_command( "DUMP_TMC", "STEPPER", self.name, self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) gcode.register_mux_command( + "SET_TMC_FIELD", "STEPPER", self.name, + self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) + gcode.register_mux_command( "INIT_TMC", "STEPPER", self.name, self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) # Setup basic register values @@ -282,7 +288,8 @@ class TMC2208: self.fields.set_field("pdn_disable", True) self.fields.set_field("mstep_reg_select", True) self.fields.set_field("multistep_filt", True) - vsense, irun, ihold = tmc2130.get_config_current(config) + vsense, irun, ihold, self.sense_resistor = \ + tmc2130.get_config_current(config) self.fields.set_field("vsense", vsense) self.fields.set_field("IHOLD", ihold) self.fields.set_field("IRUN", irun) @@ -351,6 +358,40 @@ class TMC2208: def get_phase(self): mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) return mscnt >> self.fields.get_field("MRES") + cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2208 driver" + def cmd_SET_TMC_CURRENT(self, params): + gcode = self.printer.lookup_object('gcode') + vsense = bool(self.fields.get_field("vsense")) + if 'HOLDCURRENT' in params: + hold_current = gcode.get_float( + 'HOLDCURRENT', params, above=0., maxval=2.) + else: + hold_current = tmc2130.bits_to_current( + self.fields.get_field("IHOLD"), + self.sense_resistor, + vsense) + if 'CURRENT' in params: + run_current = gcode.get_float( + 'CURRENT', params, minval=hold_current, maxval=2.) + else: + run_current = tmc2130.bits_to_current( + self.fields.get_field("IRUN"), + self.sense_resistor, + vsense) + if 'HOLDCURRENT' in params or 'CURRENT' in params: + vsense_calc, irun, ihold = tmc2130.calc_current_config(run_current, + hold_current, self.sense_resistor) + self.printer.lookup_object('toolhead').wait_moves() + if (vsense_calc != vsense): + self.fields.set_field("vsense", vsense_calc) + self.set_register("CHOPCONF", self.regs["CHOPCONF"]) + self.fields.set_field("IHOLD", ihold) + self.fields.set_field("IRUN", irun) + self.set_register("IHOLD_IRUN", self.regs["IHOLD_IRUN"]) + else: + gcode.respond_info( + "Run Current: %0.2fA Hold Current: %0.2fA" + % (run_current, hold_current)) cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" def cmd_DUMP_TMC(self, params): self.printer.lookup_object('toolhead').get_last_move_time() @@ -377,6 +418,18 @@ class TMC2208: logging.info("INIT_TMC 2208 %s", self.name) self.printer.lookup_object('toolhead').wait_moves() self._init_registers() + cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2208 driver" + def cmd_SET_TMC_FIELD(self, params): + gcode = self.printer.lookup_object('gcode') + if ('FIELD' not in params or + 'VALUE' not in params): + raise gcode.error("Invalid command format") + field = gcode.get_str('FIELD', params) + reg = self.fields.field_to_register[field] + value = gcode.get_int('VALUE', params) + self.fields.set_field(field, value) + self.printer.lookup_object('toolhead').wait_moves() + self.set_register(reg, self.regs[reg]) def load_config_prefix(config): return TMC2208(config) |