diff options
Diffstat (limited to 'klippy/extras/tmc2660.py')
| -rw-r--r-- | klippy/extras/tmc2660.py | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index ec177efa..6f14f7ac 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -162,7 +162,7 @@ class TMC2660: self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False vsense = {'low': 0, 'high': 1} self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high') - self.driver_rdsel = 2 # stallguard2 and coolstep current level + self.driver_rdsel = 0 # Microsteps (used by endstop phase) # Build and send registers @@ -248,6 +248,17 @@ class TMC2660: self.is_idle = True return eventtime + 0.1 + def get_microsteps(self): + return 256 >> self.driver_mres + + def get_phase(self): + # Send DRVCTRL to get a response + reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff] + params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid) + pr = bytearray(params['response']) + steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0] + return steps >> self.driver_mres + def set_current(self, current): self.driver_cs = current_to_reg(current) reg = self.reg_sgcsconf |