diff options
| -rw-r--r-- | klippy/extras/tmc2130.py | 95 | ||||
| -rw-r--r-- | klippy/extras/tmc5160.py | 11 |
2 files changed, 57 insertions, 49 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index a945ad6d..ed5c8a1c 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -226,6 +226,59 @@ class TMCCommandHelper: ###################################################################### +# TMC virtual endstops +###################################################################### + +# Endstop wrapper that enables "sensorless homing" +class TMCVirtualEndstop: + def __init__(self, mcu_tmc, mcu_endstop): + 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") + # 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): + 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) + self.mcu_tmc.set_register("GCONF", val) + self.mcu_tmc.set_register("TCOOLTHRS", 0) + self.mcu_endstop.home_finalize() + +class TMCEndstopHelper: + def __init__(self, config, mcu_tmc, diag_pin): + self.printer = config.get_printer() + self.mcu_tmc = mcu_tmc + self.diag_pin = diag_pin + name_parts = config.get_name().split() + ppins = self.printer.lookup_object("pins") + ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self) + def setup_pin(self, pin_type, pin_params): + ppins = self.printer.lookup_object('pins') + if self.diag_pin is None: + raise ppins.error("tmc virtual endstop requires diag pin config") + if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': + raise ppins.error("tmc virtual endstop only useful as endstop") + if pin_params['invert'] or pin_params['pullup']: + raise ppins.error("Can not pullup/invert tmc virtual endstop") + mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) + return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop) + + +###################################################################### # TMC stepper current config helper ###################################################################### @@ -368,9 +421,8 @@ class TMC2130: self.get_register = self.mcu_tmc.get_register self.set_register = self.mcu_tmc.set_register # Allow virtual endstop to be created - self.diag1_pin = config.get('diag1_pin', None) - ppins = self.printer.lookup_object("pins") - ppins.register_chip("tmc2130_" + self.name, self) + diag1_pin = config.get('diag1_pin', None) + TMCEndstopHelper(config, self.mcu_tmc, diag1_pin) # Register commands cmdhelper = TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(self.query_registers) @@ -394,12 +446,6 @@ class TMC2130: set_config_field(config, "pwm_freq", 1) set_config_field(config, "pwm_autoscale", True) set_config_field(config, "sgt", 0) - def setup_pin(self, pin_type, pin_params): - if pin_type != 'endstop' or pin_params['pin'] != 'virtual_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 query_registers(self, print_time=0.): return [(reg_name, self.get_register(reg_name)) for reg_name in ReadRegisters] @@ -409,36 +455,5 @@ class TMC2130: mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT")) return mscnt >> self.fields.get_field("MRES") -# 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) - self.en_pwm = tmc2130.fields.get_field("en_pwm_mode") - # 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): - self.tmc2130.fields.set_field("en_pwm_mode", 0) - val = self.tmc2130.fields.set_field("diag1_stall", 1) - self.tmc2130.set_register("GCONF", val) - self.tmc2130.set_register("TCOOLTHRS", 0xfffff) - self.mcu_endstop.home_prepare() - def home_finalize(self): - self.tmc2130.fields.set_field("en_pwm_mode", self.en_pwm) - val = self.tmc2130.fields.set_field("diag1_stall", 0) - self.tmc2130.set_register("GCONF", val) - self.tmc2130.set_register("TCOOLTHRS", 0) - self.mcu_endstop.home_finalize() - def load_config_prefix(config): return TMC2130(config) diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index 81b7f33c..0fc365d5 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -296,9 +296,8 @@ class TMC5160: self.get_register = self.mcu_tmc.get_register self.set_register = self.mcu_tmc.set_register # Allow virtual endstop to be created - self.diag1_pin = config.get('diag1_pin', None) - ppins = self.printer.lookup_object("pins") - ppins.register_chip("tmc5160_" + self.name, self) + diag1_pin = config.get('diag1_pin', None) + tmc2130.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin) # Register commands cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc) cmdhelper.setup_register_dump(self.query_registers) @@ -348,12 +347,6 @@ class TMC5160: self.fields.set_field("TPWMTHRS", thresh) # TPOWERDOWN set_config_field(config, "TPOWERDOWN", 10) - def setup_pin(self, pin_type, pin_params): - if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': - raise pins.error("tmc5160 virtual endstop only useful as endstop") - if pin_params['invert'] or pin_params['pullup']: - raise pins.error("Can not pullup/invert tmc5160 virtual endstop") - return tmc2130.TMC2130VirtualEndstop(self) def query_registers(self, print_time=0.): return [(reg_name, self.get_register(reg_name)) for reg_name in ReadRegisters] |