diff options
Diffstat (limited to 'klippy/extras/tmc2208.py')
| -rw-r--r-- | klippy/extras/tmc2208.py | 50 |
1 files changed, 29 insertions, 21 deletions
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index 5db45fd5..c0d0d718 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -182,16 +182,10 @@ FieldFormatters.update({ # TMC2208 uart communication ###################################################################### -# Helper code for communicating via TMC uart -class MCU_TMC_uart: - def __init__(self, config, name_to_reg, fields): - self.printer = config.get_printer() - self.name = config.get_name().split()[-1] - self.name_to_reg = name_to_reg - self.fields = fields - self.ifcnt = None - # pin setup - ppins = self.printer.lookup_object("pins") +# Code for sending messages on a TMC uart +class MCU_TMC_uart_bitbang: + def __init__(self, config): + ppins = config.get_printer().lookup_object("pins") rx_pin_params = ppins.lookup_pin( config.get('uart_pin'), can_pullup=True) tx_pin_desc = config.get('tx_pin', None) @@ -200,7 +194,7 @@ class MCU_TMC_uart: else: tx_pin_params = ppins.lookup_pin(tx_pin_desc) if rx_pin_params['chip'] is not tx_pin_params['chip']: - raise ppins.error("TMC2208 rx and tx pins must be on the same mcu") + raise ppins.error("TMC uart rx and tx pins must be on the same mcu") self.mcu = rx_pin_params['chip'] self.pullup = rx_pin_params['pullup'] self.rx_pin = rx_pin_params['pin'] @@ -216,8 +210,6 @@ class MCU_TMC_uart: cmd_queue = self.mcu.alloc_command_queue() self.tmcuart_send_cmd = self.mcu.lookup_command( "tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue) - def get_fields(self): - return self.fields def _calc_crc8(self, data): # Generate a CRC8-ATM value for a bytearray crc = 0 @@ -270,30 +262,46 @@ class MCU_TMC_uart: if data != encoded_data: return None return val + def reg_read(self, addr, reg): + msg = self._encode_read(0xf5, addr, reg) + 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, addr, reg, val): + msg = self._encode_write(0xf5, 0x00, reg | 0x80, val) + self.tmcuart_send_cmd.send_with_response( + [self.oid, msg, 0], 'tmcuart_response', self.oid) + +# Helper code for communicating via TMC uart +class MCU_TMC_uart: + def __init__(self, config, name_to_reg, fields): + self.printer = config.get_printer() + self.name = config.get_name().split()[-1] + self.name_to_reg = name_to_reg + self.fields = fields + self.ifcnt = None + self.mcu_uart = MCU_TMC_uart_bitbang(config) + def get_fields(self): + return self.fields def get_register(self, reg_name): reg = self.name_to_reg[reg_name] - msg = self._encode_read(0xf5, 0x00, reg) if self.printer.get_start_args().get('debugoutput') is not None: return 0 for retry in range(5): - params = self.tmcuart_send_cmd.send_with_response( - [self.oid, msg, 10], 'tmcuart_response', self.oid) - val = self._decode_read(reg, params['read']) + val = self.mcu_uart.reg_read(0x00, reg) if val is not None: return val raise self.printer.command_error( "Unable to read tmc2208 '%s' register %s" % (self.name, reg_name)) def set_register(self, reg_name, val, print_time=0.): - msg = self._encode_write(0xf5, 0x00, - self.name_to_reg[reg_name] | 0x80, val) + reg = self.name_to_reg[reg_name] if self.printer.get_start_args().get('debugoutput') is not None: return for retry in range(5): ifcnt = self.ifcnt if ifcnt is None: self.ifcnt = ifcnt = self.get_register("IFCNT") - params = self.tmcuart_send_cmd.send_with_response( - [self.oid, msg, 0], 'tmcuart_response', self.oid) + self.mcu_uart.reg_write(0x00, reg, val) self.ifcnt = self.get_register("IFCNT") if self.ifcnt == (ifcnt + 1) & 0xff: return |