tmc2130: Initial support for sensorless homing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
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26246b1f28
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@ -461,10 +461,18 @@
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#driver_TOFF: 4
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#driver_TOFF: 4
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#driver_HEND: 7
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#driver_HEND: 7
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#driver_HSTRT: 0
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#driver_HSTRT: 0
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#driver_SGT: 0
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# Set the given register during the configuration of the TMC2130
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# Set the given register during the configuration of the TMC2130
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# chip. This may be used to set custom motor parameters. The
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# chip. This may be used to set custom motor parameters. The
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# defaults for each parameter are next to the parameter name in the
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# defaults for each parameter are next to the parameter name in the
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# above list.
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# above list.
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#diag1_pin:
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# The micro-controller pin attached to the DIAG1 line of the TMC2130
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# chip. Setting this creates a "tmc2130_stepper_x:virtual_endstop"
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# virtual pin which may be used as the stepper's endstop_pin. Doing
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# this enables "sensorless homing". (Be sure to also set driver_SGT
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# to an appropriate sensitivity value.) The default is to not enable
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# sensorless homing.
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# Homing override. One may use this mechanism to run a series of
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# Homing override. One may use this mechanism to run a series of
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@ -9,6 +9,7 @@ dir_pin: PL0
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enable_pin: !PA7
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enable_pin: !PA7
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step_distance: .005
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step_distance: .005
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endstop_pin: ^PB6
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endstop_pin: ^PB6
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#endstop_pin: tmc2130_stepper_x:virtual_endstop
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position_endstop: 0
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position_endstop: 0
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position_max: 250
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position_max: 250
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@ -17,6 +18,7 @@ cs_pin: PG0
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microsteps: 16
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microsteps: 16
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run_current: .5
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run_current: .5
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sense_resistor: 0.220
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sense_resistor: 0.220
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diag1_pin: !PK2
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[stepper_y]
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[stepper_y]
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step_pin: PC1
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step_pin: PC1
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@ -24,6 +26,7 @@ dir_pin: !PL1
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enable_pin: !PA6
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enable_pin: !PA6
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step_distance: .005
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step_distance: .005
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endstop_pin: ^PB5
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endstop_pin: ^PB5
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#endstop_pin: tmc2130_stepper_y:virtual_endstop
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position_endstop: 0
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position_endstop: 0
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position_max: 210
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position_max: 210
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@ -32,6 +35,7 @@ cs_pin: PG2
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microsteps: 16
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microsteps: 16
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run_current: .5
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run_current: .5
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sense_resistor: 0.220
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sense_resistor: 0.220
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diag1_pin: !PK7
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[stepper_z]
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[stepper_z]
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step_pin: PC2
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step_pin: PC2
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@ -39,6 +43,7 @@ dir_pin: PL2
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enable_pin: !PA5
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enable_pin: !PA5
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step_distance: .0025
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step_distance: .0025
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endstop_pin: ^PB4
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endstop_pin: ^PB4
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#endstop_pin: tmc2130_stepper_z:virtual_endstop
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position_endstop: 0.5
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position_endstop: 0.5
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position_max: 200
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position_max: 200
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@ -47,6 +52,7 @@ cs_pin: PK5
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microsteps: 16
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microsteps: 16
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run_current: .5
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run_current: .5
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sense_resistor: 0.220
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sense_resistor: 0.220
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diag1_pin: !PK6
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[extruder]
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[extruder]
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step_pin: PC3
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step_pin: PC3
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@ -70,6 +76,7 @@ cs_pin: PK4
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microsteps: 16
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microsteps: 16
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run_current: .5
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run_current: .5
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sense_resistor: 0.220
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sense_resistor: 0.220
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diag1_pin: !PK3
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[heater_bed]
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[heater_bed]
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heater_pin: PG5
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heater_pin: PG5
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@ -6,12 +6,17 @@
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import math
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import math
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TMC_FREQUENCY=13200000.
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TMC_FREQUENCY=13200000.
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REG_GCONF=0x00
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GCONF_EN_PWM_MODE=1<<2
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GCONF_DIAG1_STALL=1<<8
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REG_TCOOLTHRS=0x14
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REG_COOLCONF=0x6d
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class tmc2130:
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class TMC2130:
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def __init__(self, config):
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def __init__(self, config):
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printer = config.get_printer()
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self.printer = config.get_printer()
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# pin setup
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# pin setup
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ppins = printer.lookup_object("pins")
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ppins = self.printer.lookup_object("pins")
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cs_pin = config.get('cs_pin')
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cs_pin = config.get('cs_pin')
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cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
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cs_pin_params = ppins.lookup_pin('digital_out', cs_pin)
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if cs_pin_params['invert']:
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if cs_pin_params['invert']:
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@ -39,6 +44,12 @@ class tmc2130:
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toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
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toff = config.getint('driver_TOFF', 4, minval=1, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hend = config.getint('driver_HEND', 7, minval=0, maxval=15)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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hstrt = config.getint('driver_HSTRT', 0, minval=0, maxval=7)
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sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
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# Allow virtual endstop to be created
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self.diag1_pin = config.get('diag1_pin', None)
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ppins.register_chip("_".join(config.get_name().split()[:2]), self)
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self.send_spi_cmd = None
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self.mcu.add_config_object(self)
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# calculate current
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# calculate current
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vsense = False
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vsense = False
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irun = self.current_bits(run_current, sense_resistor, vsense)
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irun = self.current_bits(run_current, sense_resistor, vsense)
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@ -48,7 +59,8 @@ class tmc2130:
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irun = self.current_bits(run_current, sense_resistor, vsense)
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irun = self.current_bits(run_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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ihold = self.current_bits(hold_current, sense_resistor, vsense)
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# configure GCONF
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# configure GCONF
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self.add_config_cmd(0x00, (sc_velocity > 0.) << 2)
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self.reg_GCONF = (sc_velocity > 0.) << 2
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self.add_config_cmd(REG_GCONF, self.reg_GCONF)
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# configure CHOPCONF
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# configure CHOPCONF
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self.add_config_cmd(
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self.add_config_cmd(
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
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@ -59,6 +71,8 @@ class tmc2130:
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self.add_config_cmd(0x11, tpowerdown)
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self.add_config_cmd(0x11, tpowerdown)
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# configure TPWMTHRS
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# configure TPWMTHRS
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self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
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self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
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# configure COOLCONF
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self.add_config_cmd(REG_COOLCONF, sgt << 16)
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def add_config_cmd(self, addr, val):
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def add_config_cmd(self, addr, val):
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
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@ -78,6 +92,52 @@ class tmc2130:
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step_dist = stepper_config.getfloat('step_distance')
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << self.mres)
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step_dist_256 = step_dist / (1 << self.mres)
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return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
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def setup_pin(self, pin_params):
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if (pin_params['pin'] != 'virtual_endstop'
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or pin_params['type'] != 'endstop'):
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raise pins.error("tmc2130 virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert tmc2130 virtual endstop")
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return TMC2130VirtualEndstop(self)
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def build_config(self):
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cmd_queue = self.mcu.alloc_command_queue()
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self.spi_send_cmd = self.mcu.lookup_command(
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"spi_send oid=%c data=%*s", cq=cmd_queue)
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def set_register(self, addr, val):
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data = [(addr | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi_send_cmd.send([self.oid, data])
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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def __init__(self, tmc2130):
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self.tmc2130 = tmc2130
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if tmc2130.diag1_pin is None:
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raise pins.error("tmc2130 virtual endstop requires diag1_pin")
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ppins = tmc2130.printer.lookup_object('pins')
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self.mcu_endstop = ppins.setup_pin('endstop', tmc2130.diag1_pin)
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if self.mcu_endstop.get_mcu() is not tmc2130.mcu:
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raise pins.error("tmc2130 virtual endstop must be on same mcu")
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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gconf = self.tmc2130.reg_GCONF
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gconf &= ~GCONF_EN_PWM_MODE
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gconf |= GCONF_DIAG1_STALL
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self.tmc2130.set_register(REG_GCONF, gconf)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0xfffff)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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self.tmc2130.set_register(REG_GCONF, self.tmc2130.reg_GCONF)
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self.tmc2130.set_register(REG_TCOOLTHRS, 0)
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self.mcu_endstop.home_finalize()
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def load_config_prefix(config):
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def load_config_prefix(config):
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return tmc2130(config)
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return TMC2130(config)
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