chipmisc: Enable replicape steppers dynamically

Enable all the steppers via the shift registers when the first stepper
is enabled, and disable all the steppers once all steppers are
disabled.  This avoids having to enable all the steppers all of the
time.  Note that, this support is independent from the current control
for each stepper, which is still done individually.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 25 insertions, 4 deletions

diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py
index cbbb4d75..c6f0df64 100644
--- a/klippy/chipmisc.py
+++ b/klippy/chipmisc.py
@@ -359,18 +359,23 @@ class Replicape:
             self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
             self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
         self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
+        self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
+            REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
+            "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
         if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
             # Enable xyz steppers
             shift_registers[0] &= ~1
         if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
             # Enable eh steppers
             shift_registers[3] &= ~1
-        if config.getboolean('standstill_power_down', False):
+        if (config.getboolean('standstill_power_down', False)
+            and self.stepper_dacs):
             shift_registers[4] &= ~1
-        shift_registers.reverse()
-        self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
+        self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
             REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
-            "".join(["%02x" % (x,) for x in shift_registers])))
+            "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
+        self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
+        self.last_stepper_time = 0.
     def note_pwm_start_value(self, channel, start_value, shutdown_value):
         self.mcu_pwm_start_value |= not not start_value
         self.mcu_pwm_shutdown_value |= not not shutdown_value
@@ -389,6 +394,22 @@ class Replicape:
             self.mcu_pwm_enable.set_digital(print_time, 0)
         elif is_enable and len(on_channels) == 1:
             self.mcu_pwm_enable.set_digital(print_time, 1)
+        # Check if need to set the stepper enable lines
+        if channel not in self.stepper_dacs:
+            return
+        on_dacs = [1 for c in self.stepper_dacs.keys()
+                   if self.enabled_channels[c]]
+        if not on_dacs:
+            cmd = self.disable_stepper_cmd
+        elif is_enable and len(on_dacs) == 1:
+            cmd = self.enable_stepper_cmd
+        else:
+            return
+        print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
+        clock = self.host_mcu.print_time_to_clock(print_time)
+        # XXX - the send_spi message should be scheduled
+        self.host_mcu.send(self.host_mcu.create_command(cmd),
+                           minclock=clock, reqclock=clock)
     def setup_pin(self, pin_params):
         pin = pin_params['pin']
         if pin not in self.pins: