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tmc2660: Add endstop phase detection functionality to TMC2660 extra (#816)

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Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2018-10-24 22:01:12 +02:00 • committed by KevinOConnor
parent 1a437c1fd1
commit b6bf455155
4 changed files with 17 additions and 6 deletions
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13
klippy/extras/tmc2660.py
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@ -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