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tmc: SET_TMC_FIELD VELOCITY 

Ability to specify `VELOCITY` as a parameter for SET_TMC_FIELD. Useful for configuring at runtime the TSTEP based fields of the driver.

Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
This commit is contained in:
Alex Voinea 2023-03-16 13:11:34 +01:00 committed by KevinOConnor
parent 0469710a69
commit 73f4c6cd00
9 changed files with 37 additions and 10 deletions
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7
docs/G-Codes.md
View File

@ -1236,13 +1236,16 @@ if StealthChop2 is used, the stepper must be held at standstill for >130ms so
that the driver executes the AT#1 calibration.
#### SET_TMC_FIELD
`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will
alter the value of the specified register field of the TMC driver.
`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value> VELOCITY=<value>`:
This will alter the value of the specified register field of the TMC driver.
This command is intended for low-level diagnostics and debugging only
because changing the fields during run-time can lead to undesired and
potentially dangerous behavior of your printer. Permanent changes
should be made using the printer configuration file instead. No sanity
checks are performed for the given values.
A VELOCITY can also be specified instead of a VALUE. This velocity is
converted to the 20bit TSTEP based value representation. Only use the VELOCITY
argument for fields that represent velocities.
### [toolhead]

13
klippy/extras/tmc.py
View File

@ -258,7 +258,18 @@ class TMCCommandHelper:
reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None:
raise gcmd.error("Unknown field name '%s'" % (field_name,))
value = gcmd.get_int('VALUE')
value = gcmd.get_int('VALUE', None)
velocity = gcmd.get_float('VELOCITY', None, minval=0.)
tmc_frequency = self.mcu_tmc.get_tmc_frequency()
if tmc_frequency is None and velocity is not None:
raise gcmd.error("VELOCITY parameter not supported by this driver")
if (value is None) == (velocity is None):
raise gcmd.error("Specify either VALUE or VELOCITY")
if velocity is not None:
step_dist = self.stepper.get_step_dist()
mres = self.fields.get_field("mres")
value = TMCtstepHelper(step_dist, mres, tmc_frequency,
velocity)
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)

8
klippy/extras/tmc2130.py
View File

@ -248,13 +248,14 @@ def lookup_tmc_spi_chain(config):
# Helper code for working with TMC devices via SPI
class MCU_TMC_SPI:
def __init__(self, config, name_to_reg, fields):
def __init__(self, config, name_to_reg, fields, tmc_frequency):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
self.mutex = self.tmc_spi.mutex
self.name_to_reg = name_to_reg
self.fields = fields
self.tmc_frequency = tmc_frequency
def get_fields(self):
return self.fields
def get_register(self, reg_name):
@ -271,6 +272,8 @@ class MCU_TMC_SPI:
return
raise self.printer.command_error(
"Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
def get_tmc_frequency(self):
return self.tmc_frequency
######################################################################
@ -281,7 +284,8 @@ class TMC2130:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

3
klippy/extras/tmc2208.py
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@ -186,7 +186,8 @@ class TMC2208:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 0,
TMC_FREQUENCY)
self.fields.set_field("pdn_disable", True)
# Register commands
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)

3
klippy/extras/tmc2209.py
View File

@ -58,7 +58,8 @@ class TMC2209:
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3,
TMC_FREQUENCY)
# Setup fields for UART
self.fields.set_field("pdn_disable", True)
self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart

3
klippy/extras/tmc2240.py
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@ -343,7 +343,8 @@ class TMC2240:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

2
klippy/extras/tmc2660.py
View File

@ -221,6 +221,8 @@ class MCU_TMC2660_SPI:
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
self.spi.spi_send(msg, minclock)
def get_tmc_frequency(self):
return None
######################################################################

3
klippy/extras/tmc5160.py
View File

@ -316,7 +316,8 @@ class TMC5160:
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
TMC_FREQUENCY)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands

5
klippy/extras/tmc_uart.py
View File

@ -210,7 +210,7 @@ def lookup_tmc_uart_bitbang(config, max_addr):
# Helper code for communicating via TMC uart
class MCU_TMC_uart:
def __init__(self, config, name_to_reg, fields, max_addr=0):
def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.name_to_reg = name_to_reg
@ -219,6 +219,7 @@ class MCU_TMC_uart:
self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
config, max_addr)
self.mutex = self.mcu_uart.mutex
self.tmc_frequency = tmc_frequency
def get_fields(self):
return self.fields
def _do_get_register(self, reg_name):
@ -250,3 +251,5 @@ class MCU_TMC_uart:
return
raise self.printer.command_error(
"Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
def get_tmc_frequency(self):
return self.tmc_frequency