tmc2130: Factor out g-code command handlers to their own class
Create a TMCCommandHelper class that implements INIT_TMC, SET_TMC_FIELD, and DUMP_TMC. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
6a7ddb6bf0
commit
395c845ca1
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@ -106,6 +106,8 @@ class FieldHelper:
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self.registers = {}
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name, default=None):
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return self.field_to_register.get(field_name, default)
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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@ -155,6 +157,67 @@ class FieldHelper:
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# G-Code command helpers
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######################################################################
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class TMCCommandHelper:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.query_registers = None
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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self.gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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def init_registers(self, print_time=0.):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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self.mcu_tmc.set_register(reg_name, val, print_time)
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
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def cmd_SET_TMC_FIELD(self, params):
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if 'FIELD' not in params or 'VALUE' not in params:
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raise self.gcode.error("Invalid command format")
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field_name = self.gcode.get_str('FIELD', params)
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise self.gcode.error("Unknown field name '%s'" % (field_name,))
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value = self.gcode.get_int('VALUE', params)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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# DUMP_TMC support
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def setup_register_dump(self, query_registers):
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self.query_registers = query_registers
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self.gcode.register_mux_command(
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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logging.info("DUMP_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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read_regs = self.query_registers(print_time)
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read_regs_by_name = { reg_name: val for reg_name, val in read_regs }
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self.gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in read_regs_by_name:
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self.gcode.respond_info(
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self.fields.pretty_format(reg_name, val))
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self.gcode.respond_info("========== Queried registers ==========")
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for reg_name, val in read_regs:
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self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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# Config reading helpers
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######################################################################
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@ -260,20 +323,13 @@ class TMC2130:
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self.diag1_pin = config.get('diag1_pin', None)
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ppins = self.printer.lookup_object("pins")
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ppins.register_chip("tmc2130_" + self.name, self)
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# Add DUMP_TMC, INIT_TMC command
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# Register commands
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cmdhelper = TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"SET_TMC_CURRENT", "STEPPER", self.name,
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self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
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gcode.register_mux_command(
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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vsense, irun, ihold, self.sense_resistor = get_config_current(config)
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self.fields.set_field("vsense", vsense)
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@ -297,17 +353,16 @@ class TMC2130:
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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self._init_registers()
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def _init_registers(self, print_time=0.):
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# Send registers
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val, print_time)
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cmdhelper.init_registers()
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def setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise pins.error("tmc2130 virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
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return TMC2130VirtualEndstop(self)
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def query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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for reg_name in ReadRegisters]
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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@ -348,38 +403,6 @@ class TMC2130:
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gcode.respond_info(
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"Run Current: %0.2fA Hold Current: %0.2fA"
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% (run_current, hold_current))
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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logging.info("DUMP_TMC %s", self.name)
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gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.regs.items():
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if reg_name not in ReadRegisters:
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gcode.respond_info(self.fields.pretty_format(reg_name, val))
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gcode.respond_info("========== Queried registers ==========")
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for reg_name in ReadRegisters:
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val = self.get_register(reg_name)
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gcode.respond_info(self.fields.pretty_format(reg_name, val))
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2130 %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2130 driver"
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def cmd_SET_TMC_FIELD(self, params):
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gcode = self.printer.lookup_object('gcode')
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if ('FIELD' not in params or
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'VALUE' not in params):
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raise gcode.error("Invalid command format")
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field = gcode.get_str('FIELD', params)
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reg = self.fields.field_to_register.get(field)
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if reg is None:
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raise gcode.error("Unknown field name '%s'" % field)
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value = gcode.get_int('VALUE', params)
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self.fields.set_field(field, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.set_register(reg, self.regs[reg], print_time)
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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