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tmc2209: Add support for sensorless homing

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-08-17 21:05:30 -04:00
parent 96fdb6ef36
commit a482ddf582
4 changed files with 35 additions and 7 deletions
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30
klippy/extras/tmc.py
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@@ -32,7 +32,7 @@ class FieldHelper:
if reg_name is None:
reg_name = self.field_to_register[field_name]
if reg_value is None:
reg_value = self.registers[reg_name]
reg_value = self.registers.get(reg_name, 0)
mask = self.all_fields[reg_name][field_name]
field_value = (reg_value & mask) >> ffs(mask)
if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
@@ -163,7 +163,13 @@ class TMCVirtualEndstop:
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")
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
self.en_pwm = not self.fields.get_field("en_spreadCycle")
self.pwmthrs = self.fields.get_field("TPWMTHRS")
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
@@ -173,14 +179,26 @@ class TMCVirtualEndstop:
self.query_endstop = self.mcu_endstop.query_endstop
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)
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
# On "stallguard4" drivers, "stealthchop" must be enabled
self.mcu_tmc.set_register("TPWMTHRS", 0)
val = self.fields.set_field("en_spreadCycle", 0)
else:
# On earlier drivers, "stealthchop" must be disabled
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)
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs)
val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
else:
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()