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tmc2660: Hold a mutex during MCU_TMC2660_SPI get/set_register() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-10 09:47:47 -04:00 committed by KevinOConnor
parent 1f3b74d2f7
commit 844dca9c6e
1 changed files with 10 additions and 5 deletions
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11
klippy/extras/tmc2660.py
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@ -170,11 +170,13 @@ class TMC2660CurrentHelper:
def handle_printing(self, print_time): def handle_printing(self, print_time):
print_time -= 0.100 # Schedule slightly before deadline print_time -= 0.100 # Schedule slightly before deadline
self.set_current(print_time, self.current) self.printer.get_reactor().register_callback(
(lambda ev: 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) current = self.current * float(self.idle_current_percentage) / 100.
* self.current / 100)) self.printer.get_reactor().register_callback(
(lambda ev: self.set_current(print_time, current)))
def set_current(self, print_time, current): def set_current(self, print_time, current):
vsense, cs = self._calc_current(current) vsense, cs = self._calc_current(current)
@ -204,6 +206,7 @@ class TMC2660CurrentHelper:
class MCU_TMC2660_SPI: class MCU_TMC2660_SPI:
def __init__(self, config, name_to_reg, fields): def __init__(self, config, name_to_reg, fields):
self.printer = config.get_printer() self.printer = config.get_printer()
self.mutex = self.printer.get_reactor().mutex()
self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000) self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
self.name_to_reg = name_to_reg self.name_to_reg = name_to_reg
self.fields = fields self.fields = fields
@ -215,6 +218,7 @@ class MCU_TMC2660_SPI:
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
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
params = self.spi.spi_transfer(msg) 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]
@ -224,6 +228,7 @@ class MCU_TMC2660_SPI:
minclock = self.spi.get_mcu().print_time_to_clock(print_time) 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]
msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff] msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
with self.mutex:
self.spi.spi_send(msg, minclock) self.spi.spi_send(msg, minclock)