tmc5160: diag0 support (#3159)

Allow for diag0 only hardware to use sensorless homing.

Signed-off-by:  Trevor Jones <trevorjones141@gmail.com>

1 files changed, 13 insertions, 4 deletions

diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index d87d5a3f..acc0b607 100644
--- a/klippy/extras/tmc.py
+++ b/klippy/extras/tmc.py
@@ -182,11 +182,20 @@ class TMCCommandHelper:
 
 # Helper class for "sensorless homing"
 class TMCVirtualPinHelper:
-    def __init__(self, config, mcu_tmc, diag_pin):
+    def __init__(self, config, mcu_tmc):
         self.printer = config.get_printer()
         self.mcu_tmc = mcu_tmc
         self.fields = mcu_tmc.get_fields()
-        self.diag_pin = diag_pin
+        if self.fields.lookup_register('diag0_stall') is not None:
+            if config.get('diag0_pin', None) is not None:
+                self.diag_pin = config.get('diag0_pin')
+                self.diag_pin_field = 'diag0_stall'
+            else:
+                self.diag_pin = config.get('diag1_pin', None)
+                self.diag_pin_field = 'diag1_stall'
+        else:
+            self.diag_pin = config.get('diag_pin', None)
+            self.diag_pin_field = None
         self.mcu_endstop = None
         self.en_pwm = False
         self.pwmthrs = 0
@@ -228,7 +237,7 @@ class TMCVirtualPinHelper:
         else:
             # On earlier drivers, "stealthchop" must be disabled
             self.fields.set_field("en_pwm_mode", 0)
-            val = self.fields.set_field("diag1_stall", 1)
+            val = self.fields.set_field(self.diag_pin_field, 1)
         self.mcu_tmc.set_register("GCONF", val)
         self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
     def handle_homing_move_end(self, endstops):
@@ -240,7 +249,7 @@ class TMCVirtualPinHelper:
             val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
         else:
             self.fields.set_field("en_pwm_mode", self.en_pwm)
-            val = self.fields.set_field("diag1_stall", 0)
+            val = self.fields.set_field(self.diag_pin_field, 0)
         self.mcu_tmc.set_register("GCONF", val)
         self.mcu_tmc.set_register("TCOOLTHRS", 0)