"""
TMC Stepper Driver Tools
Status monitoring, current control, register access, and autotune support
"""
import json
from typing import Optional, List
import config
from moonraker import get_client
def register_tmc_tools(mcp):
"""Register TMC stepper driver tools."""
@mcp.tool()
async def get_tmc_status(stepper: Optional[str] = None) -> str:
"""
Get TMC driver status for all or specific steppers.
Shows run/hold current, phase offset, temperature (if available).
Args:
stepper: Optional stepper name (e.g., 'stepper_x', 'extruder'). If not provided, returns all.
Returns:
JSON with TMC driver status information.
"""
client = get_client()
# First get list of all printer objects
objects_result = await client.get('/printer/objects/list')
all_objects = objects_result.get('result', {}).get('objects', [])
# Filter TMC objects
tmc_objects = [obj for obj in all_objects if obj.startswith('tmc')]
if not tmc_objects:
return json.dumps({'error': 'No TMC drivers found'}, indent=2)
# Filter by stepper name if provided
if stepper:
stepper_lower = stepper.lower()
tmc_objects = [obj for obj in tmc_objects if stepper_lower in obj.lower()]
if not tmc_objects:
return json.dumps({'error': f'No TMC driver found for stepper: {stepper}'}, indent=2)
# Build query string
query_params = '&'.join([f'{obj.replace(" ", "%20")}' for obj in tmc_objects])
result = await client.get(f'/printer/objects/query?{query_params}')
status = result.get('result', {}).get('status', {})
# Format the output
tmc_status = {}
for obj, data in status.items():
driver_type = obj.split()[0] # e.g., 'tmc2209'
stepper_name = obj.split()[1] if len(obj.split()) > 1 else 'unknown'
tmc_status[stepper_name] = {
'driver': driver_type.upper(),
'run_current': round(data.get('run_current', 0), 3),
'hold_current': round(data.get('hold_current', 0), 3),
'phase_offset': data.get('mcu_phase_offset'),
'phase_offset_position': data.get('phase_offset_position'),
}
# Add temperature if available
if data.get('temperature') is not None:
tmc_status[stepper_name]['temperature'] = data['temperature']
# Add driver status if available
if data.get('drv_status'):
tmc_status[stepper_name]['drv_status'] = data['drv_status']
return json.dumps({
'tmc_drivers': tmc_status,
'count': len(tmc_status)
}, indent=2)
@mcp.tool()
async def set_tmc_current(
stepper: str,
run_current: Optional[float] = None,
hold_current: Optional[float] = None
) -> str:
"""
Set TMC driver current for a stepper motor.
Args:
stepper: Stepper name (e.g., 'stepper_x', 'extruder')
run_current: Run current in Amps (e.g., 0.8)
hold_current: Hold current in Amps (e.g., 0.5). If not specified, defaults to run_current.
Returns:
Result of the current change operation.
"""
if not run_current and not hold_current:
return json.dumps({'error': 'Must specify at least run_current or hold_current'}, indent=2)
client = get_client()
# Build the gcode command
cmd_parts = [f'SET_TMC_CURRENT STEPPER={stepper}']
if run_current is not None:
cmd_parts.append(f'CURRENT={run_current}')
if hold_current is not None:
cmd_parts.append(f'HOLDCURRENT={hold_current}')
gcode = ' '.join(cmd_parts)
try:
await client.run_gcode(gcode)
# Query the new status
objects_result = await client.get('/printer/objects/list')
all_objects = objects_result.get('result', {}).get('objects', [])
tmc_obj = None
for obj in all_objects:
if obj.startswith('tmc') and stepper in obj:
tmc_obj = obj
break
if tmc_obj:
result = await client.get(f'/printer/objects/query?{tmc_obj.replace(" ", "%20")}')
new_status = result.get('result', {}).get('status', {}).get(tmc_obj, {})
return json.dumps({
'success': True,
'stepper': stepper,
'command': gcode,
'new_settings': {
'run_current': round(new_status.get('run_current', 0), 3),
'hold_current': round(new_status.get('hold_current', 0), 3)
}
}, indent=2)
return json.dumps({'success': True, 'command': gcode}, indent=2)
except Exception as e:
return json.dumps({'error': str(e), 'command': gcode}, indent=2)
@mcp.tool()
async def dump_tmc_registers(stepper: str) -> str:
"""
Dump TMC driver registers for diagnostics.
Runs DUMP_TMC command and returns register values.
Args:
stepper: Stepper name (e.g., 'stepper_x', 'extruder')
Returns:
TMC register dump information.
"""
client = get_client()
# Find the TMC object
objects_result = await client.get('/printer/objects/list')
all_objects = objects_result.get('result', {}).get('objects', [])
tmc_obj = None
for obj in all_objects:
if obj.startswith('tmc') and stepper in obj:
tmc_obj = obj
break
if not tmc_obj:
return json.dumps({'error': f'No TMC driver found for: {stepper}'}, indent=2)
driver_type = tmc_obj.split()[0].upper()
# Run DUMP_TMC command
gcode = f'DUMP_TMC STEPPER={stepper}'
try:
await client.run_gcode(gcode)
return json.dumps({
'success': True,
'stepper': stepper,
'driver': driver_type,
'command': gcode,
'note': 'Register dump sent to console. Check Klipper console/logs for detailed register values.'
}, indent=2)
except Exception as e:
return json.dumps({'error': str(e)}, indent=2)
@mcp.tool()
async def get_tmc_field(stepper: str, field: str) -> str:
"""
Get a specific TMC register field value.
Args:
stepper: Stepper name (e.g., 'stepper_x')
field: Register field name (e.g., 'pwm_scale_sum', 'sg_result')
Returns:
The field value.
"""
client = get_client()
gcode = f'SET_TMC_FIELD STEPPER={stepper} FIELD={field}'
try:
await client.run_gcode(gcode)
return json.dumps({
'success': True,
'stepper': stepper,
'field': field,
'note': 'Field value printed to console. Check Klipper console for the value.'
}, indent=2)
except Exception as e:
return json.dumps({'error': str(e)}, indent=2)
@mcp.tool()
async def set_tmc_field(stepper: str, field: str, value: int) -> str:
"""
Set a specific TMC register field value.
WARNING: Incorrect values can damage hardware. Use with caution.
Args:
stepper: Stepper name (e.g., 'stepper_x')
field: Register field name
value: Value to set
Returns:
Result of the operation.
"""
client = get_client()
gcode = f'SET_TMC_FIELD STEPPER={stepper} FIELD={field} VALUE={value}'
try:
await client.run_gcode(gcode)
return json.dumps({
'success': True,
'stepper': stepper,
'field': field,
'value': value,
'command': gcode
}, indent=2)
except Exception as e:
return json.dumps({'error': str(e)}, indent=2)
@mcp.tool()
async def get_autotune_status() -> str:
"""
Get TMC autotune status if klipper_tmc_autotune is installed.
Shows motor configurations and tuning parameters.
Returns:
Autotune configuration status or installation instructions.
"""
client = get_client()
# Check for autotune objects
objects_result = await client.get('/printer/objects/list')
all_objects = objects_result.get('result', {}).get('objects', [])
autotune_objects = [obj for obj in all_objects if 'autotune' in obj.lower()]
if not autotune_objects:
return json.dumps({
'installed': False,
'message': 'TMC Autotune module is installed but not configured in printer.cfg',
'configuration_required': True,
'example_config': '''
# Add to printer.cfg for each stepper:
[autotune_tmc stepper_x]
motor: ldo-42sth48-2004mah # Find your motor in motor_database.cfg
[autotune_tmc stepper_y]
motor: ldo-42sth48-2004mah
[autotune_tmc stepper_z]
motor: ldo-42sth48-2004ac
[autotune_tmc extruder]
motor: ldo-36sth20-1004ahg
''',
'motor_database': 'See ~/klipper_tmc_autotune/motor_database.cfg for supported motors'
}, indent=2)
# Query autotune objects
query_params = '&'.join([f'{obj.replace(" ", "%20")}' for obj in autotune_objects])
result = await client.get(f'/printer/objects/query?{query_params}')
status = result.get('result', {}).get('status', {})
return json.dumps({
'installed': True,
'configured': True,
'autotune_objects': list(status.keys()),
'status': status
}, indent=2)
@mcp.tool()
async def list_tmc_steppers() -> str:
"""
List all steppers with TMC drivers and their types.
Returns:
JSON list of all TMC-equipped steppers.
"""
client = get_client()
objects_result = await client.get('/printer/objects/list')
all_objects = objects_result.get('result', {}).get('objects', [])
tmc_steppers = []
for obj in all_objects:
if obj.startswith('tmc'):
parts = obj.split()
if len(parts) >= 2:
tmc_steppers.append({
'stepper': parts[1],
'driver': parts[0].upper()
})
# Check for autotune
autotune_installed = any('autotune' in obj.lower() for obj in all_objects)
return json.dumps({
'tmc_steppers': tmc_steppers,
'count': len(tmc_steppers),
'autotune_configured': autotune_installed,
'supported_commands': [
'get_tmc_status',
'set_tmc_current',
'dump_tmc_registers',
'get_tmc_field',
'set_tmc_field',
'get_autotune_status'
]
}, indent=2)
