diff options
Diffstat (limited to 'klippy/chipmisc.py')
| -rw-r--r-- | klippy/chipmisc.py | 29 |
1 files changed, 25 insertions, 4 deletions
diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py index cbbb4d75..c6f0df64 100644 --- a/klippy/chipmisc.py +++ b/klippy/chipmisc.py @@ -359,18 +359,23 @@ class Replicape: self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel) self.enabled_channels = {ch: False for cl, ch in self.pins.values()} + self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % ( + REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE, + "".join(["%02x" % (x,) for x in reversed(shift_registers)])) if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]: # Enable xyz steppers shift_registers[0] &= ~1 if [i for i in [3, 4] if 11+i in self.stepper_dacs]: # Enable eh steppers shift_registers[3] &= ~1 - if config.getboolean('standstill_power_down', False): + if (config.getboolean('standstill_power_down', False) + and self.stepper_dacs): shift_registers[4] &= ~1 - shift_registers.reverse() - self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % ( + self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % ( REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE, - "".join(["%02x" % (x,) for x in shift_registers]))) + "".join(["%02x" % (x,) for x in reversed(shift_registers)])) + self.host_mcu.add_config_cmd(self.disable_stepper_cmd) + self.last_stepper_time = 0. def note_pwm_start_value(self, channel, start_value, shutdown_value): self.mcu_pwm_start_value |= not not start_value self.mcu_pwm_shutdown_value |= not not shutdown_value @@ -389,6 +394,22 @@ class Replicape: self.mcu_pwm_enable.set_digital(print_time, 0) elif is_enable and len(on_channels) == 1: self.mcu_pwm_enable.set_digital(print_time, 1) + # Check if need to set the stepper enable lines + if channel not in self.stepper_dacs: + return + on_dacs = [1 for c in self.stepper_dacs.keys() + if self.enabled_channels[c]] + if not on_dacs: + cmd = self.disable_stepper_cmd + elif is_enable and len(on_dacs) == 1: + cmd = self.enable_stepper_cmd + else: + return + print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME) + clock = self.host_mcu.print_time_to_clock(print_time) + # XXX - the send_spi message should be scheduled + self.host_mcu.send(self.host_mcu.create_command(cmd), + minclock=clock, reqclock=clock) def setup_pin(self, pin_params): pin = pin_params['pin'] if pin not in self.pins: |