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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-10-10 19:48:35 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-10-16 13:09:23 -0400 |
| commit | def524bdf488e0de97f287e5711bd84226e8098f (patch) | |
| tree | 0946f12fc8a233ca8e4f9fd26985282dcbdc059d /klippy/extras/tmc2130.py | |
| parent | a2df01b88ec1a7d72f77222fd94219b9037e3ad9 (diff) | |
| download | kutter-def524bdf488e0de97f287e5711bd84226e8098f.tar.gz kutter-def524bdf488e0de97f287e5711bd84226e8098f.tar.xz kutter-def524bdf488e0de97f287e5711bd84226e8098f.zip | |
endstop_phase: Add support for detecting phase via TMC stepper drivers
The Trinamic stepper motor drivers are capable of reporting the
stepper phase - add support for using that capability to the
enddstop_phases module.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 08c7c7f3..9220ba95 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -137,6 +137,10 @@ class TMC2130: data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff] self.spi_send_cmd.send([self.oid, data]) + def get_microsteps(self): + return 256 >> self.mres + def get_phase(self): + return (self.get_register("MSCNT") & 0x3ff) >> self.mres cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers" def cmd_DUMP_TMC(self, params): self.printer.lookup_object('toolhead').get_last_move_time() |