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| author | Kevin O'Connor <kevin@koconnor.net> | 2024-05-14 21:27:01 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2024-05-16 12:18:02 -0400 |
| commit | 2efde0111e949c87f72409fbe43a6a96d5aa07f5 (patch) | |
| tree | f191342bff4cab9714b85f19ee8bc3193ce8b199 /klippy | |
| parent | faee2c0e52506f157d38b747613df213d659226a (diff) | |
| download | kutter-2efde0111e949c87f72409fbe43a6a96d5aa07f5.tar.gz kutter-2efde0111e949c87f72409fbe43a6a96d5aa07f5.tar.xz kutter-2efde0111e949c87f72409fbe43a6a96d5aa07f5.zip | |
tmc: Save and restore thigh during sensorless homing
Make sure thigh is set to zero during sensorless homing, as it would
not make sense for it to be enabled.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc.py | 19 |
1 files changed, 17 insertions, 2 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 1a5059fa..a797b866 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -479,7 +479,7 @@ class TMCVirtualPinHelper: self.diag_pin_field = None self.mcu_endstop = None self.en_pwm = False - self.pwmthrs = self.coolthrs = 0 + self.pwmthrs = self.coolthrs = self.thigh = 0 # Register virtual_endstop pin name_parts = config.get_name().split() ppins = self.printer.lookup_object("pins") @@ -503,8 +503,8 @@ class TMCVirtualPinHelper: def handle_homing_move_begin(self, hmove): if self.mcu_endstop not in hmove.get_mcu_endstops(): return + # Enable/disable stealthchop self.pwmthrs = self.fields.get_field("tpwmthrs") - self.coolthrs = self.fields.get_field("tcoolthrs") reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: # On "stallguard4" drivers, "stealthchop" must be enabled @@ -518,12 +518,21 @@ class TMCVirtualPinHelper: self.fields.set_field("en_pwm_mode", 0) val = self.fields.set_field(self.diag_pin_field, 1) self.mcu_tmc.set_register("GCONF", val) + # Enable tcoolthrs (if not already) + self.coolthrs = self.fields.get_field("tcoolthrs") if self.coolthrs == 0: tc_val = self.fields.set_field("tcoolthrs", 0xfffff) self.mcu_tmc.set_register("TCOOLTHRS", tc_val) + # Disable thigh + reg = self.fields.lookup_register("thigh", None) + if reg is not None: + self.thigh = self.fields.get_field("thigh") + th_val = self.fields.set_field("thigh", 0) + self.mcu_tmc.set_register(reg, th_val) def handle_homing_move_end(self, hmove): if self.mcu_endstop not in hmove.get_mcu_endstops(): return + # Restore stealthchop/spreadcycle reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs) @@ -533,8 +542,14 @@ class TMCVirtualPinHelper: self.fields.set_field("en_pwm_mode", self.en_pwm) val = self.fields.set_field(self.diag_pin_field, 0) self.mcu_tmc.set_register("GCONF", val) + # Restore tcoolthrs tc_val = self.fields.set_field("tcoolthrs", self.coolthrs) self.mcu_tmc.set_register("TCOOLTHRS", tc_val) + # Restore thigh + reg = self.fields.lookup_register("thigh", None) + if reg is not None: + th_val = self.fields.set_field("thigh", self.thigh) + self.mcu_tmc.set_register(reg, th_val) ###################################################################### |