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tmc: simplify homing start/end

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Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
This commit is contained in:
Timofey Titovets 2026-02-07 23:59:14 +01:00
parent 6d7d3403e4
commit e8edc8be9c
1 changed files with 26 additions and 36 deletions
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62
klippy/extras/tmc.py
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@ -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 +597,46 @@ 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)
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)
self.set_field("tpwmthrs", 0)
self.set_field("en_spreadcycle", 0)
else:
# 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)
# 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()
######################################################################