diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/tmc2660.py | 57 |
1 files changed, 7 insertions, 50 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index f8596488..4d481033 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -177,20 +177,13 @@ class TMC2660: self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields) self.get_register = self.mcu_tmc.get_register self.set_register = self.mcu_tmc.set_register - # Add SET_CURRENT and DUMP_TMC commands + # Register commands + cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) + cmdhelper.setup_register_dump(self.query_registers) 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 driver registers set_config_field = self.fields.set_config_field @@ -239,7 +232,7 @@ class TMC2660: self.fields.set_field("SDOFF", 0) # only step/dir mode supported # Init Registers - self._init_registers(self) + cmdhelper.init_registers() # Register ready/printing handlers self.idle_current_percentage = config.getint( @@ -250,9 +243,9 @@ class TMC2660: self.printer.register_event_handler("idle_timeout:ready", self.handle_ready) - def _init_registers(self, print_time=0.): - for reg_name in Registers: - self.set_register(reg_name, self.regs[reg_name]) + def query_registers(self, print_time=0.): + return [(reg_name, self.get_register(reg_name)) + for reg_name in ReadRegisters] def get_microsteps(self): return 256 >> self.fields.get_field("MRES") @@ -289,41 +282,5 @@ class TMC2660: self.printer.lookup_object('toolhead').get_last_move_time(), self.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() - gcode = self.printer.lookup_object('gcode') - gcode.respond_info("========== Write-only registers ==========") - for reg_name in Registers: - msg = self.fields.pretty_format(reg_name, self.regs[reg_name]) - gcode.respond_info(msg) - - # Send one register to get the return data - gcode.respond_info("========== Queried registers ==========") - for reg_name in ReadRegisters: - val = self.get_register(reg_name) - gcode.respond_info(self.fields.pretty_format(reg_name, val)) - - cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" - def cmd_INIT_TMC(self, params): - logging.info("INIT_TMC 2660 %s", self.name) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - self._init_registers(print_time) - - cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 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.get(field) - if reg is None: - raise gcode.error("Unknown field name '%s'" % field) - value = gcode.get_int('VALUE', params) - self.fields.set_field(field, value) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - self.set_register(reg, self.regs[reg], print_time) - def load_config_prefix(config): return TMC2660(config) |