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tmc2208: Use TMCCommandHelper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-05 13:36:53 -04:00 committed by KevinOConnor
parent 395c845ca1
commit 1bdd51d575
1 changed files with 14 additions and 47 deletions
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61
klippy/extras/tmc2208.py
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@ -318,20 +318,13 @@ class TMC2208:
self.mcu_tmc = MCU_TMC_uart(config, Registers, self.fields)
self.get_register = self.mcu_tmc.get_register
self.set_register = self.mcu_tmc.set_register
# Add DUMP_TMC, INIT_TMC command
# 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 basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
@ -370,6 +363,17 @@ class TMC2208:
self._init_registers()
except self.printer.command_error as e:
raise self.printer.config_error(str(e))
def query_registers(self, print_time=0.):
out = []
for reg_name in ReadRegisters:
val = self.get_register(reg_name)
# IOIN has different mappings depending on the driver type
# (SEL_A field of IOIN reg)
if reg_name == "IOIN":
drv_type = self.fields.get_field("SEL_A", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
out.append((reg_name, val))
return out
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
@ -409,43 +413,6 @@ class TMC2208:
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()
gcode = self.printer.lookup_object('gcode')
logging.info("DUMP_TMC %s", self.name)
gcode.respond_info("========== Write-only registers ==========")
for reg_name, val in self.regs.items():
if reg_name not in ReadRegisters:
gcode.respond_info(self.fields.pretty_format(reg_name, val))
gcode.respond_info("========== Queried registers ==========")
for reg_name in ReadRegisters:
val = self.get_register(reg_name)
# IOIN has different mappings depending on the driver type
# (SEL_A field of IOIN reg)
if reg_name == "IOIN":
drv_type = self.fields.get_field("SEL_A", val)
reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
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 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.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)
self.printer.lookup_object('toolhead').wait_moves()
self.set_register(reg, self.regs[reg])
def load_config_prefix(config):
return TMC2208(config)