Merge d6247b4d0f into 6d7d3403e4

docs/Config_Reference.md

@@ -4163,6 +4163,7 @@ run_current:
 #driver_SEDN: 0
 #driver_SEIMIN: 0
 #driver_SFILT: 0
+#driver_SG4_THRS: 0
 #driver_SG4_ANGLE_OFFSET: 1
 #driver_SLOPE_CONTROL: 0
 #   Set the given register during the configuration of the TMC2240
@@ -4176,8 +4177,8 @@ run_current:
 #   is "active low" and is thus normally prefaced with "^!". Setting
 #   this creates a "tmc2240_stepper_x:virtual_endstop" virtual pin
 #   which may be used as the stepper's endstop_pin. Doing this enables
-#   "sensorless homing". (Be sure to also set driver_SGT to an
-#   appropriate sensitivity value.) The default is to not enable
+#   "sensorless homing". (Be sure to also set driver_SGT OR driver_SG4_THRS
+#   to an appropriate sensitivity value.) The default is to not enable
 #   sensorless homing.
 ```
 

klippy/extras/tmc.py

@@ -575,8 +575,8 @@ class TMCVirtualPinHelper:
             self.diag_pin = config.get('diag_pin', None)
             self.diag_pin_field = None
         self.mcu_endstop = None
-        self.en_pwm = False
-        self.pwmthrs = self.coolthrs = self.thigh = 0
+        self._dirty_regs = collections.OrderedDict()
+        self._state = collections.OrderedDict()
         # Register virtual_endstop pin
         name_parts = config.get_name().split()
         ppins = self.printer.lookup_object("pins")
@@ -597,56 +597,54 @@ class TMCVirtualPinHelper:
                                             self.handle_homing_move_end)
         self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
         return self.mcu_endstop
+    def set_field(self, field_name, value):
+        self._state[field_name] = self.fields.get_field(field_name)
+        reg_name = self.fields.lookup_register(field_name)
+        self._dirty_regs[reg_name] = self.fields.set_field(field_name, value)
+    def flush(self):
+        regs = self._dirty_regs
+        self._dirty_regs = {}
+        for k in list(regs.keys()):
+            reg_val = regs[k]
+            self.mcu_tmc.set_register(k, reg_val)
     def handle_homing_move_begin(self, hmove):
         if self.mcu_endstop not in hmove.get_mcu_endstops():
             return
         # Enable/disable stealthchop
-        self.pwmthrs = self.fields.get_field("tpwmthrs")
         reg = self.fields.lookup_register("en_pwm_mode", None)
+        sg4_thrs = 0
+        if self.fields.lookup_register("sg4_thrs", None) is not None:
+            sg4_thrs = self.fields.get_field("sg4_thrs")
         if reg is None:
             # On "stallguard4" drivers, "stealthchop" must be enabled
-            self.en_pwm = not self.fields.get_field("en_spreadcycle")
-            tp_val = self.fields.set_field("tpwmthrs", 0)
-            self.mcu_tmc.set_register("TPWMTHRS", tp_val)
-            val = self.fields.set_field("en_spreadcycle", 0)
-        else:
+            self.set_field("tpwmthrs", 0)
+            self.set_field("en_spreadcycle", 0)
+        elif sg4_thrs == 0:
             # On earlier drivers, "stealthchop" must be disabled
-            self.en_pwm = self.fields.get_field("en_pwm_mode")
-            self.fields.set_field("en_pwm_mode", 0)
-            val = self.fields.set_field(self.diag_pin_field, 1)
-        self.mcu_tmc.set_register("GCONF", val)
+            self.set_field("en_pwm_mode", 0)
+            self.set_field(self.diag_pin_field, 1)
+        else:
+            # TMC2240 in SG4
+            self.set_field("en_pwm_mode", 1)
+            self.set_field("tpwmthrs", 0)
+            self.set_field(self.diag_pin_field, 1)
         # Enable tcoolthrs (if not already)
-        self.coolthrs = self.fields.get_field("tcoolthrs")
-        if self.coolthrs == 0:
-            tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
-            self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
+        self.set_field("tcoolthrs", 0xfffff)
         # Disable thigh
         reg = self.fields.lookup_register("thigh", None)
         if reg is not None:
-            self.thigh = self.fields.get_field("thigh")
-            th_val = self.fields.set_field("thigh", 0)
-            self.mcu_tmc.set_register(reg, th_val)
+            self.set_field("thigh", 0)
+        self.flush()
     def handle_homing_move_end(self, hmove):
         if self.mcu_endstop not in hmove.get_mcu_endstops():
             return
-        # Restore stealthchop/spreadcycle
-        reg = self.fields.lookup_register("en_pwm_mode", None)
-        if reg is None:
-            tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
-            self.mcu_tmc.set_register("TPWMTHRS", tp_val)
-            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(self.diag_pin_field, 0)
-        self.mcu_tmc.set_register("GCONF", val)
-        # Restore tcoolthrs
-        tc_val = self.fields.set_field("tcoolthrs", self.coolthrs)
-        self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
-        # Restore thigh
-        reg = self.fields.lookup_register("thigh", None)
-        if reg is not None:
-            th_val = self.fields.set_field("thigh", self.thigh)
-            self.mcu_tmc.set_register(reg, th_val)
+        # Restore previous state
+        fields = self._state
+        self._state = collections.OrderedDict()
+        for field in list(fields.keys()):
+            val = fields[field]
+            self.set_field(field, val)
+        self.flush()
 
 
 ######################################################################

klippy/extras/tmc2240.py

@@ -411,6 +411,7 @@ class TMC2240:
         #   TPOWERDOWN
         set_config_field(config, "tpowerdown", 10)
         #   SG4_THRS
+        set_config_field(config, "sg4_thrs", 0)
         set_config_field(config, "sg4_angle_offset", 1)
         #   DRV_CONF
         set_config_field(config, "slope_control", 0)