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tmc2660: Add INIT_TMC and SET_TMC_FIELD gcodes 

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2019-03-05 19:04:59 +00:00 committed by KevinOConnor
parent 8e17df5d78
commit 789379e95b
2 changed files with 45 additions and 5 deletions
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17
docs/G-Codes.md
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@ -290,15 +290,26 @@ section is enabled:
carriage. It is typically invoked from the activate_gcode and
deactivate_gcode fields in a multiple extruder configuration.
## TMC2130 and TMC2208
## TMC2130, TMC2660 and TMC2208
The following command is available when the "tmc2130" or "tmc2208"
config section is enabled:
The following command is available when the "tmc2130", "tmc2660"
or "tmc2208" config section is enabled:
- `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
registers and report their values.
- `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
registers. Needed to re-enable the driver if power to the chip is
turned off then back on.
The following commands are additionally available when the "tmc2660"
config section is enabled:
- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<current>`: This will adjust
the run_current of the TMC driver.
- `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<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.
## Endstop adjustments by stepper phase

31
klippy/extras/tmc2660.py
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@ -3,7 +3,7 @@
# Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, collections
import math, collections, logging
import bus, tmc2130
def current_to_reg(current, sense_resistor, vsense_on):
@ -134,6 +134,12 @@ class TMC2660:
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 driver registers
self.regs = collections.OrderedDict()
self.fields = tmc2130.FieldHelper(Fields, FieldFormatters, self.regs)
@ -259,5 +265,28 @@ class TMC2660:
msg = self.fields.pretty_format(return_format, self.get_response())
gcode.respond_info(msg)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2660 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self._init_registers(min_clock)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 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)
if field == "CS":
raise gcode.error("Use SET_TMC_CURRENT to set CS")
reg = self.fields.field_to_register[field]
value = gcode.get_int('VALUE', params)
self.fields.set_field(field, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
clock = self.spi.get_mcu().print_time_to_clock(print_time)
self.set_register(reg, self.regs[reg], min_clock=clock)
def load_config_prefix(config):
return TMC2660(config)