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tmc: It's not valid to schedule messages with print_time=0 

A print_time of zero may translate to a negative clock on a secondary
micro-controller, which would cause an internal error.  Change the
code to pass a real print_time or None if it is not needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-25 18:15:17 -04:00
parent 79c24f95b3
commit 6ec7dee07d
4 changed files with 21 additions and 14 deletions
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4
klippy/extras/tmc.py
View File

@ -96,7 +96,7 @@ class TMCCommandHelper:
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
self.printer.register_event_handler("klippy:connect", self.printer.register_event_handler("klippy:connect",
self._handle_connect) self._handle_connect)
def _init_registers(self, print_time): def _init_registers(self, print_time=None):
# Send registers # Send registers
for reg_name, val in self.fields.registers.items(): for reg_name, val in self.fields.registers.items():
self.mcu_tmc.set_register(reg_name, val, print_time) self.mcu_tmc.set_register(reg_name, val, print_time)
@ -104,7 +104,7 @@ class TMCCommandHelper:
retry_count = 0 retry_count = 0
while 1: while 1:
try: try:
self._init_registers(0.) self._init_registers()
return return
except self.printer.command_error as e: except self.printer.command_error as e:
logging.exception("TMC init error") logging.exception("TMC init error")

8
klippy/extras/tmc2130.py
View File

@ -186,12 +186,14 @@ class MCU_TMC_SPI:
params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00]) params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
pr = bytearray(params['response']) pr = bytearray(params['response'])
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4] return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
def set_register(self, reg_name, val, print_time=0.): def set_register(self, reg_name, val, print_time=None):
min_clock = self.spi.get_mcu().print_time_to_clock(print_time) minclock = 0
if print_time is not None:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
reg = Registers[reg_name] reg = Registers[reg_name]
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff] (val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(data, min_clock) self.spi.spi_send(data, minclock)
###################################################################### ######################################################################

17
klippy/extras/tmc2660.py
View File

@ -169,7 +169,8 @@ class TMC2660CurrentHelper:
return vsense, cs return vsense, cs
def handle_printing(self, print_time): def handle_printing(self, print_time):
self.set_current(0., self.current) # workaround print_time -= 0.100 # Schedule slightly before deadline
self.set_current(print_time, self.current)
def handle_ready(self, print_time): def handle_ready(self, print_time):
self.set_current(print_time, (float(self.idle_current_percentage) self.set_current(print_time, (float(self.idle_current_percentage)
@ -213,15 +214,17 @@ class MCU_TMC2660_SPI:
val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name)) val = self.fields.set_field("RDSEL", ReadRegisters.index(reg_name))
if self.printer.get_start_args().get('debugoutput') is not None: if self.printer.get_start_args().get('debugoutput') is not None:
return 0 return 0
params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff, msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
(val >> 8) & 0xff, val & 0xff]) params = self.spi.spi_transfer(msg)
pr = bytearray(params['response']) pr = bytearray(params['response'])
return (pr[0] << 16) | (pr[1] << 8) | pr[2] return (pr[0] << 16) | (pr[1] << 8) | pr[2]
def set_register(self, reg_name, val, print_time=0.): def set_register(self, reg_name, val, print_time=None):
min_clock = self.spi.get_mcu().print_time_to_clock(print_time) minclock = 0
if print_time is not None:
minclock = self.spi.get_mcu().print_time_to_clock(print_time)
reg = self.name_to_reg[reg_name] reg = self.name_to_reg[reg_name]
self.spi.spi_send([((val >> 16) | reg) & 0xff, msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
(val >> 8) & 0xff, val & 0xff], min_clock) self.spi.spi_send(msg, minclock)
###################################################################### ######################################################################

4
klippy/extras/tmc_uart.py
View File

@ -149,7 +149,9 @@ class MCU_TMC_uart_bitbang:
params = self.tmcuart_send_cmd.send_with_response( params = self.tmcuart_send_cmd.send_with_response(
[self.oid, msg, 10], 'tmcuart_response', self.oid) [self.oid, msg, 10], 'tmcuart_response', self.oid)
return self._decode_read(reg, params['read']) return self._decode_read(reg, params['read'])
def reg_write(self, instance_id, addr, reg, val, print_time=0.): def reg_write(self, instance_id, addr, reg, val, print_time=None):
minclock = 0
if print_time is not None:
minclock = self.mcu.print_time_to_clock(print_time) minclock = self.mcu.print_time_to_clock(print_time)
if self.analog_mux is not None: if self.analog_mux is not None:
self.analog_mux.activate(instance_id) self.analog_mux.activate(instance_id)