diff options
Diffstat (limited to 'klippy/extras/tmc2660.py')
| -rw-r--r-- | klippy/extras/tmc2660.py | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index cb9b6c86..87e63ec0 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -170,11 +170,13 @@ class TMC2660CurrentHelper: def handle_printing(self, print_time): print_time -= 0.100 # Schedule slightly before deadline - self.set_current(print_time, self.current) + self.printer.get_reactor().register_callback( + (lambda ev: self.set_current(print_time, self.current))) def handle_ready(self, print_time): - self.set_current(print_time, (float(self.idle_current_percentage) - * self.current / 100)) + current = self.current * float(self.idle_current_percentage) / 100. + self.printer.get_reactor().register_callback( + (lambda ev: self.set_current(print_time, current))) def set_current(self, print_time, current): vsense, cs = self._calc_current(current) @@ -204,6 +206,7 @@ class TMC2660CurrentHelper: class MCU_TMC2660_SPI: def __init__(self, config, name_to_reg, fields): self.printer = config.get_printer() + self.mutex = self.printer.get_reactor().mutex() self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000) self.name_to_reg = name_to_reg self.fields = fields @@ -215,7 +218,8 @@ class MCU_TMC2660_SPI: if self.printer.get_start_args().get('debugoutput') is not None: return 0 msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] - params = self.spi.spi_transfer(msg) + with self.mutex: + params = self.spi.spi_transfer(msg) pr = bytearray(params['response']) return (pr[0] << 16) | (pr[1] << 8) | pr[2] def set_register(self, reg_name, val, print_time=None): @@ -224,7 +228,8 @@ class MCU_TMC2660_SPI: minclock = self.spi.get_mcu().print_time_to_clock(print_time) reg = self.name_to_reg[reg_name] msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] - self.spi.spi_send(msg, minclock) + with self.mutex: + self.spi.spi_send(msg, minclock) ###################################################################### |