3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

tmc: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-24 23:57:26 -04:00
parent 0fd12609a6
commit 8b8f591a05
1 changed files with 21 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
klippy/extras/tmc.py
View File

@ -91,13 +91,13 @@ class TMCCommandHelper:
self.printer.register_event_handler("klippy:connect", self.printer.register_event_handler("klippy:connect",
self._handle_connect) self._handle_connect)
# Register commands # Register commands
self.gcode = self.printer.lookup_object("gcode") gcode = self.printer.lookup_object("gcode")
self.gcode.register_mux_command( gcode.register_mux_command("SET_TMC_FIELD", "STEPPER", self.name,
"SET_TMC_FIELD", "STEPPER", self.name, self.cmd_SET_TMC_FIELD,
self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help) desc=self.cmd_SET_TMC_FIELD_help)
self.gcode.register_mux_command( gcode.register_mux_command("INIT_TMC", "STEPPER", self.name,
"INIT_TMC", "STEPPER", self.name, self.cmd_INIT_TMC,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help) desc=self.cmd_INIT_TMC_help)
def _init_registers(self, print_time=None): 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():
@ -126,19 +126,17 @@ class TMCCommandHelper:
reactor = self.printer.get_reactor() reactor = self.printer.get_reactor()
reactor.pause(reactor.monotonic() + 1.) reactor.pause(reactor.monotonic() + 1.)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params): def cmd_INIT_TMC(self, gcmd):
logging.info("INIT_TMC %s", self.name) logging.info("INIT_TMC %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time() print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self._init_registers(print_time) self._init_registers(print_time)
cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver" cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
def cmd_SET_TMC_FIELD(self, params): def cmd_SET_TMC_FIELD(self, gcmd):
if 'FIELD' not in params or 'VALUE' not in params: field_name = gcmd.get('FIELD')
raise self.gcode.error("Invalid command format")
field_name = self.gcode.get_str('FIELD', params)
reg_name = self.fields.lookup_register(field_name, None) reg_name = self.fields.lookup_register(field_name, None)
if reg_name is None: if reg_name is None:
raise self.gcode.error("Unknown field name '%s'" % (field_name,)) raise gcmd.error("Unknown field name '%s'" % (field_name,))
value = self.gcode.get_int('VALUE', params) value = gcmd.get_int('VALUE')
reg_val = self.fields.set_field(field_name, value) reg_val = self.fields.set_field(field_name, value)
print_time = self.printer.lookup_object('toolhead').get_last_move_time() print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.mcu_tmc.set_register(reg_name, reg_val, print_time) self.mcu_tmc.set_register(reg_name, reg_val, print_time)
@ -158,24 +156,24 @@ class TMCCommandHelper:
def setup_register_dump(self, read_registers, read_translate=None): def setup_register_dump(self, read_registers, read_translate=None):
self.read_registers = read_registers self.read_registers = read_registers
self.read_translate = read_translate self.read_translate = read_translate
self.gcode.register_mux_command( gcode = self.printer.lookup_object("gcode")
"DUMP_TMC", "STEPPER", self.name, gcode.register_mux_command("DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) self.cmd_DUMP_TMC,
desc=self.cmd_DUMP_TMC_help)
cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
def cmd_DUMP_TMC(self, params): def cmd_DUMP_TMC(self, gcmd):
logging.info("DUMP_TMC %s", self.name) logging.info("DUMP_TMC %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time() print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.gcode.respond_info("========== Write-only registers ==========") gcmd.respond_info("========== Write-only registers ==========")
for reg_name, val in self.fields.registers.items(): for reg_name, val in self.fields.registers.items():
if reg_name not in self.read_registers: if reg_name not in self.read_registers:
self.gcode.respond_info( gcmd.respond_info(self.fields.pretty_format(reg_name, val))
self.fields.pretty_format(reg_name, val)) gcmd.respond_info("========== Queried registers ==========")
self.gcode.respond_info("========== Queried registers ==========")
for reg_name in self.read_registers: for reg_name in self.read_registers:
val = self.mcu_tmc.get_register(reg_name) val = self.mcu_tmc.get_register(reg_name)
if self.read_translate is not None: if self.read_translate is not None:
reg_name, val = self.read_translate(reg_name, val) reg_name, val = self.read_translate(reg_name, val)
self.gcode.respond_info(self.fields.pretty_format(reg_name, val)) gcmd.respond_info(self.fields.pretty_format(reg_name, val))
###################################################################### ######################################################################