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tmc2130: Add support for INIT_TMC command

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Signed-off-by: Frank Kang <amblidex@outlook.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-03-01 00:23:19 -05:00
parent 8446f28850
commit c039b33f2a
3 changed files with 34 additions and 11 deletions
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19
klippy/extras/tmc2130.py
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@ -211,11 +211,14 @@ class TMC2130:
self.diag1_pin = config.get('diag1_pin', None)
ppins = self.printer.lookup_object("pins")
ppins.register_chip("tmc2130_" + self.name, self)
# Add DUMP_TMC command
# Add DUMP_TMC, INIT_TMC command
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command(
"DUMP_TMC", "STEPPER", self.name,
self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
gcode.register_mux_command(
"INIT_TMC", "STEPPER", self.name,
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
# Setup basic register values
self.regs = collections.OrderedDict()
self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
@ -242,9 +245,11 @@ class TMC2130:
set_config_field(config, "pwm_autoscale", True)
sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
self.fields.set_field("sgt", sgt)
self._init_registers()
def _init_registers(self, min_clock = 0):
# Send registers
for reg_name, val in self.regs.items():
self.set_register(reg_name, val)
self.set_register(reg_name, val, min_clock)
def setup_pin(self, pin_type, pin_params):
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise pins.error("tmc2130 virtual endstop only useful as endstop")
@ -257,11 +262,11 @@ class TMC2130:
params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
pr = bytearray(params['response'])
return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
def set_register(self, reg_name, val):
def set_register(self, reg_name, val, min_clock = 0):
reg = Registers[reg_name]
data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
(val >> 8) & 0xff, val & 0xff]
self.spi.spi_send(data)
self.spi.spi_send(data, min_clock)
def get_microsteps(self):
return 256 >> self.fields.get_field("MRES")
def get_phase(self):
@ -284,6 +289,12 @@ class TMC2130:
msg = self.fields.pretty_format(reg_name, val)
logging.info(msg)
gcode.respond_info(msg)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, params):
logging.info("INIT_TMC 2130 %s", self.name)
print_time = self.printer.lookup_object('toolhead').get_last_move_time();
min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
self._init_registers(min_clock)
# Endstop wrapper that enables tmc2130 "sensorless homing"
class TMC2130VirtualEndstop: