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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-08-17 21:05:30 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-08-19 12:05:09 -0400 |
| commit | a482ddf582862103fdf4ef465cbad81ea46af90b (patch) | |
| tree | 043189a22fb30ce2cfae40c6622ad72725588d65 /klippy/extras | |
| parent | 96fdb6ef369b822961e7484c7f8d04f3c191ad62 (diff) | |
| download | kutter-a482ddf582862103fdf4ef465cbad81ea46af90b.tar.gz kutter-a482ddf582862103fdf4ef465cbad81ea46af90b.tar.xz kutter-a482ddf582862103fdf4ef465cbad81ea46af90b.zip | |
tmc2209: Add support for sensorless homing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/tmc.py | 30 | ||||
| -rw-r--r-- | klippy/extras/tmc2209.py | 3 |
2 files changed, 26 insertions, 7 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 16b5c708..8d0bf9f9 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -32,7 +32,7 @@ class FieldHelper: if reg_name is None: reg_name = self.field_to_register[field_name] if reg_value is None: - reg_value = self.registers[reg_name] + reg_value = self.registers.get(reg_name, 0) mask = self.all_fields[reg_name][field_name] field_value = (reg_value & mask) >> ffs(mask) if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask: @@ -163,7 +163,13 @@ class TMCVirtualEndstop: self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() self.mcu_endstop = mcu_endstop - self.en_pwm = self.fields.get_field("en_pwm_mode") + reg = self.fields.lookup_register("en_pwm_mode", None) + if reg is None: + self.en_pwm = not self.fields.get_field("en_spreadCycle") + self.pwmthrs = self.fields.get_field("TPWMTHRS") + else: + self.en_pwm = self.fields.get_field("en_pwm_mode") + self.pwmthrs = 0 # Wrappers self.get_mcu = self.mcu_endstop.get_mcu self.add_stepper = self.mcu_endstop.add_stepper @@ -173,14 +179,26 @@ class TMCVirtualEndstop: self.query_endstop = self.mcu_endstop.query_endstop self.TimeoutError = self.mcu_endstop.TimeoutError def home_prepare(self): - self.fields.set_field("en_pwm_mode", 0) - val = self.fields.set_field("diag1_stall", 1) + reg = self.fields.lookup_register("en_pwm_mode", None) + if reg is None: + # On "stallguard4" drivers, "stealthchop" must be enabled + self.mcu_tmc.set_register("TPWMTHRS", 0) + val = self.fields.set_field("en_spreadCycle", 0) + else: + # On earlier drivers, "stealthchop" must be disabled + self.fields.set_field("en_pwm_mode", 0) + val = self.fields.set_field("diag1_stall", 1) self.mcu_tmc.set_register("GCONF", val) self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff) self.mcu_endstop.home_prepare() def home_finalize(self): - self.fields.set_field("en_pwm_mode", self.en_pwm) - val = self.fields.set_field("diag1_stall", 0) + reg = self.fields.lookup_register("en_pwm_mode", None) + if reg is None: + self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs) + 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) self.mcu_tmc.set_register("GCONF", val) self.mcu_tmc.set_register("TCOOLTHRS", 0) self.mcu_endstop.home_finalize() diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py index 5f487122..5b97d906 100644 --- a/klippy/extras/tmc2209.py +++ b/klippy/extras/tmc2209.py @@ -60,7 +60,8 @@ class TMC2209: FieldFormatters) self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3) # Allow virtual pins to be created - tmc.TMCVirtualPinHelper(config, self.mcu_tmc) + diag_pin = config.get('diag_pin', None) + tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag_pin) # Register commands cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(ReadRegisters) |