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tmc: Move SET_TMC_CURRENT command to TMCCommandHelper() 

Refactor the tmc driver implementations so that there is a single
implementation of the SET_TMC_CURRENT command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-20 13:42:16 -05:00
parent a657aab0bf
commit 6e4270fa79
6 changed files with 37 additions and 68 deletions
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28
klippy/extras/tmc.py
View File

@ -81,11 +81,12 @@ class FieldHelper:
######################################################################
class TMCCommandHelper:
def __init__(self, config, mcu_tmc):
def __init__(self, config, mcu_tmc, current_helper):
self.printer = config.get_printer()
self.stepper_name = ' '.join(config.get_name().split()[1:])
self.name = config.get_name().split()[-1]
self.mcu_tmc = mcu_tmc
self.current_helper = current_helper
self.fields = mcu_tmc.get_fields()
self.read_registers = self.read_translate = None
self.toff = None
@ -99,6 +100,9 @@ class TMCCommandHelper:
gcode.register_mux_command("INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC,
desc=self.cmd_INIT_TMC_help)
gcode.register_mux_command("SET_TMC_CURRENT", "STEPPER", self.name,
self.cmd_SET_TMC_CURRENT,
desc=self.cmd_SET_TMC_CURRENT_help)
def _init_registers(self, print_time=None):
# Send registers
for reg_name, val in self.fields.registers.items():
@ -141,6 +145,28 @@ class TMCCommandHelper:
reg_val = self.fields.set_field(field_name, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.mcu_tmc.set_register(reg_name, reg_val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
ch = self.current_helper
prev_run_current, prev_hold_current, max_current = ch.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
if run_current is None and hold_current is None:
# Query only
if prev_hold_current is None:
gcmd.respond_info("Run Current: %0.2fA" % (prev_run_current,))
else:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
return
if run_current is None:
run_current = prev_run_current
if hold_current is None:
hold_current = prev_hold_current
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
ch.set_current(run_current, hold_current, print_time)
# Stepper enable/disable via comms
def _do_enable(self, print_time, is_enable):
toff_val = 0

26
klippy/extras/tmc2130.py
View File

@ -108,10 +108,6 @@ class TMCCurrentHelper:
self.fields.set_field("vsense", vsense)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
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)
def _calc_current_bits(self, current, vsense):
sense_resistor = self.sense_resistor + 0.020
vref = 0.32
@ -150,24 +146,6 @@ class TMCCurrentHelper:
self.fields.set_field("IHOLD", ihold)
val = self.fields.set_field("IRUN", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
prev_run_current, prev_hold_current, max_current = self.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
if run_current is None and hold_current is None:
# Query only
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
return
if run_current is None:
run_current = prev_run_current
if hold_current is None:
hold_current = prev_hold_current
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_current(run_current, hold_current, print_time)
######################################################################
@ -261,10 +239,10 @@ class TMC2130:
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase

4
klippy/extras/tmc2208.py
View File

@ -188,13 +188,13 @@ class TMC2208:
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
# Setup basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase

4
klippy/extras/tmc2209.py
View File

@ -62,13 +62,13 @@ class TMC2209:
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase

17
klippy/extras/tmc2660.py
View File

@ -149,11 +149,6 @@ class TMC2660CurrentHelper:
self.printer.register_event_handler("idle_timeout:ready",
self._handle_ready)
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)
def _calc_current_bits(self, current, vsense):
vref = 0.165 if vsense else 0.310
cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
@ -194,14 +189,6 @@ class TMC2660CurrentHelper:
self.current = run_current
self._update_current(run_current, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
cur = gcmd.get_float('CURRENT', None, minval=0.1, maxval=MAX_CURRENT)
if cur is None:
return
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_current(cur, None, print_time)
######################################################################
# TMC2660 SPI
@ -248,7 +235,8 @@ class TMC2660:
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# DRVCTRL
@ -278,7 +266,6 @@ class TMC2660:
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
TMC2660CurrentHelper(config, self.mcu_tmc)
# DRVCONF
set_config_field(config, "SLPH", 0)

26
klippy/extras/tmc5160.py
View File

@ -244,10 +244,6 @@ class TMC5160CurrentHelper:
irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("IHOLD", ihold)
self.fields.set_field("IRUN", irun)
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)
def _set_globalscaler(self, current):
globalscaler = int((current * 256. * math.sqrt(2.)
* self.sense_resistor / VREF) + .5)
@ -283,24 +279,6 @@ class TMC5160CurrentHelper:
self.fields.set_field("IHOLD", ihold)
val = self.fields.set_field("IRUN", irun)
self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
prev_run_current, prev_hold_current, max_current = self.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
if run_current is None and hold_current is None:
# Query only
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
return
if run_current is None:
run_current = prev_run_current
if hold_current is None:
hold_current = prev_hold_current
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.set_current(run_current, hold_current, print_time)
######################################################################
@ -315,7 +293,8 @@ class TMC5160:
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
current_helper = TMC5160CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
@ -345,7 +324,6 @@ class TMC5160:
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# IHOLDIRUN
TMC5160CurrentHelper(config, self.mcu_tmc)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)