diff options
Diffstat (limited to 'klippy/extras/tmc.py')
| -rw-r--r-- | klippy/extras/tmc.py | 69 |
1 files changed, 34 insertions, 35 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 7c92d772..cead9e4a 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -182,12 +182,30 @@ class TMCCommandHelper: # TMC virtual pins ###################################################################### -# Endstop wrapper that enables "sensorless homing" -class TMCVirtualEndstop: - def __init__(self, mcu_tmc, mcu_endstop): +# Helper class for "sensorless homing" +class TMCVirtualPinHelper: + def __init__(self, config, mcu_tmc, diag_pin): + self.printer = config.get_printer() self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() - self.mcu_endstop = mcu_endstop + self.diag_pin = diag_pin + self.mcu_endstop = None + self.en_pwm = False + self.pwmthrs = 0 + # Register virtual_endstop 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): + # Validate pin + ppins = self.printer.lookup_object('pins') + 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 pin") + if self.diag_pin is None: + raise ppins.error("tmc virtual endstop requires diag pin config") + # Setup for sensorless homing reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: self.en_pwm = not self.fields.get_field("en_spreadCycle") @@ -195,15 +213,15 @@ class TMCVirtualEndstop: 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 - 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.TimeoutError = self.mcu_endstop.TimeoutError - def home_prepare(self): + self.printer.register_event_handler("homing:homing_move_begin", + self.handle_homing_move_begin) + self.printer.register_event_handler("homing:homing_move_end", + self.handle_homing_move_end) + self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) + return self.mcu_endstop + def handle_homing_move_begin(self, endstops): + if self.mcu_endstop not in endstops: + return reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: # On "stallguard4" drivers, "stealthchop" must be enabled @@ -215,8 +233,9 @@ class TMCVirtualEndstop: 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): + def handle_homing_move_end(self, endstops): + if self.mcu_endstop not in endstops: + return reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs) @@ -226,26 +245,6 @@ class TMCVirtualEndstop: 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 TMCVirtualPinHelper: - 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 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 pin") - if self.diag_pin is None: - raise ppins.error("tmc virtual endstop requires diag pin config") - mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) - return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop) ###################################################################### |