tmc2130: Initial support for sensorless homing

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

1 files changed, 65 insertions, 5 deletions

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index 5974438d..6f6bbed5 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -6,12 +6,17 @@
 import math
 
 TMC_FREQUENCY=13200000.
+REG_GCONF=0x00
+GCONF_EN_PWM_MODE=1<<2
+GCONF_DIAG1_STALL=1<<8
+REG_TCOOLTHRS=0x14
+REG_COOLCONF=0x6d
 
-class tmc2130:
+class TMC2130:
     def __init__(self, config):
-        printer = config.get_printer()
+        self.printer = config.get_printer()
         # pin setup
-        ppins = printer.lookup_object("pins")
+        ppins = self.printer.lookup_object("pins")
         cs_pin = config.get('cs_pin')
         cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
         if cs_pin_params['invert']:
@@ -39,6 +44,12 @@ class tmc2130:
         toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
         hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
         hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
+        sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
+        # Allow virtual endstop to be created
+        self.diag1_pin = config.get('diag1_pin', None)
+        ppins.register_chip("_".join(config.get_name().split()[:2]), self)
+        self.send_spi_cmd = None
+        self.mcu.add_config_object(self)
         # calculate current
         vsense = False
         irun = self.current_bits(run_current, sense_resistor, vsense)
@@ -48,7 +59,8 @@ class tmc2130:
             irun = self.current_bits(run_current, sense_resistor, vsense)
             ihold = self.current_bits(hold_current, sense_resistor, vsense)
         # configure GCONF
-        self.add_config_cmd(0x00, (sc_velocity > 0.) << 2)
+        self.reg_GCONF = (sc_velocity > 0.) << 2
+        self.add_config_cmd(REG_GCONF, self.reg_GCONF)
         # configure CHOPCONF
         self.add_config_cmd(
             0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
@@ -59,6 +71,8 @@ class tmc2130:
         self.add_config_cmd(0x11, tpowerdown)
         # configure TPWMTHRS
         self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
+        # configure COOLCONF
+        self.add_config_cmd(REG_COOLCONF, sgt << 16)
     def add_config_cmd(self, addr, val):
         self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
             self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
@@ -78,6 +92,52 @@ class tmc2130:
         step_dist = stepper_config.getfloat('step_distance')
         step_dist_256 = step_dist / (1 << self.mres)
         return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
+    def setup_pin(self, pin_params):
+        if (pin_params['pin'] != 'virtual_endstop'
+            or pin_params['type'] != 'endstop'):
+            raise pins.error("tmc2130 virtual endstop only useful as endstop")
+        if pin_params['invert'] or pin_params['pullup']:
+            raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
+        return TMC2130VirtualEndstop(self)
+    def build_config(self):
+        cmd_queue = self.mcu.alloc_command_queue()
+        self.spi_send_cmd = self.mcu.lookup_command(
+            "spi_send oid=%c data=%*s", cq=cmd_queue)
+    def set_register(self, addr, val):
+        data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
+                (val >> 8) & 0xff, val & 0xff]
+        self.spi_send_cmd.send([self.oid, data])
+
+# Endstop wrapper that enables tmc2130 "sensorless homing"
+class TMC2130VirtualEndstop:
+    def __init__(self, tmc2130):
+        self.tmc2130 = tmc2130
+        if tmc2130.diag1_pin is None:
+            raise pins.error("tmc2130 virtual endstop requires diag1_pin")
+        ppins = tmc2130.printer.lookup_object('pins')
+        self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
+        if self.mcu_endstop.get_mcu() is not tmc2130.mcu:
+            raise pins.error("tmc2130 virtual endstop must be on same mcu")
+        # Wrappers
+        self.get_mcu = self.mcu_endstop.get_mcu
+        self.add_stepper = self.mcu_endstop.add_stepper
+        self.get_steppers = self.mcu_endstop.get_steppers
+        self.home_start = self.mcu_endstop.home_start
+        self.home_wait = self.mcu_endstop.home_wait
+        self.query_endstop = self.mcu_endstop.query_endstop
+        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
+        self.TimeoutError = self.mcu_endstop.TimeoutError
+    def home_prepare(self):
+        gconf = self.tmc2130.reg_GCONF
+        gconf &= ~GCONF_EN_PWM_MODE
+        gconf |= GCONF_DIAG1_STALL
+        self.tmc2130.set_register(REG_GCONF, gconf)
+        self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
+        self.mcu_endstop.home_prepare()
+    def home_finalize(self):
+        self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
+        self.tmc2130.set_register(REG_TCOOLTHRS, 0)
+        self.mcu_endstop.home_finalize()
 
 def load_config_prefix(config):
-    return tmc2130(config)
+    return TMC2130(config)