tmc2130: Move TMC virtual endstop code into a new TMCEndstopHelper class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
KevinOConnor
parent
35edc4d63c
commit
7f34264101
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@ -225,6 +225,59 @@ class TMCCommandHelper:
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self.gcode.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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# TMC virtual endstops
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######################################################################
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# Endstop wrapper that enables "sensorless homing"
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class TMCVirtualEndstop:
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def __init__(self, mcu_tmc, mcu_endstop):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.mcu_endstop = mcu_endstop
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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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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self.fields.set_field("en_pwm_mode", 0)
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val = self.fields.set_field("diag1_stall", 1)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
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self.mcu_endstop.home_prepare()
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def home_finalize(self):
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self.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.fields.set_field("diag1_stall", 0)
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self.mcu_tmc.set_register("GCONF", val)
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self.mcu_tmc.set_register("TCOOLTHRS", 0)
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self.mcu_endstop.home_finalize()
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class TMCEndstopHelper:
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def __init__(self, config, mcu_tmc, diag_pin):
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self.printer = config.get_printer()
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self.mcu_tmc = mcu_tmc
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self.diag_pin = diag_pin
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name_parts = config.get_name().split()
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ppins = self.printer.lookup_object("pins")
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ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
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def setup_pin(self, pin_type, pin_params):
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ppins = self.printer.lookup_object('pins')
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if self.diag_pin is None:
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raise ppins.error("tmc virtual endstop requires diag pin config")
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise ppins.error("tmc virtual endstop only useful as endstop")
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if pin_params['invert'] or pin_params['pullup']:
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raise ppins.error("Can not pullup/invert tmc virtual endstop")
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mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
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return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
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######################################################################
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# TMC stepper current config helper
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######################################################################
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@ -368,9 +421,8 @@ class TMC2130:
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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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 = self.printer.lookup_object("pins")
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ppins.register_chip("tmc2130_" + self.name, self)
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diag1_pin = config.get('diag1_pin', None)
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TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
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# Register commands
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cmdhelper = TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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@ -394,12 +446,6 @@ class TMC2130:
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set_config_field(config, "pwm_freq", 1)
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set_config_field(config, "pwm_autoscale", True)
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set_config_field(config, "sgt", 0)
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def setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_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 query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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for reg_name in ReadRegisters]
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@ -409,36 +455,5 @@ class TMC2130:
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mscnt = self.fields.get_field("MSCNT", self.get_register("MSCNT"))
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return mscnt >> self.fields.get_field("MRES")
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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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self.en_pwm = tmc2130.fields.get_field("en_pwm_mode")
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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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self.tmc2130.fields.set_field("en_pwm_mode", 0)
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val = self.tmc2130.fields.set_field("diag1_stall", 1)
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self.tmc2130.set_register("GCONF", val)
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self.tmc2130.set_register("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.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.tmc2130.fields.set_field("diag1_stall", 0)
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self.tmc2130.set_register("GCONF", val)
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self.tmc2130.set_register("TCOOLTHRS", 0)
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self.mcu_endstop.home_finalize()
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def load_config_prefix(config):
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return TMC2130(config)
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@ -296,9 +296,8 @@ class TMC5160:
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self.get_register = self.mcu_tmc.get_register
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self.set_register = self.mcu_tmc.set_register
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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 = self.printer.lookup_object("pins")
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ppins.register_chip("tmc5160_" + self.name, self)
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diag1_pin = config.get('diag1_pin', None)
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tmc2130.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
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# Register commands
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cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
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cmdhelper.setup_register_dump(self.query_registers)
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@ -348,12 +347,6 @@ class TMC5160:
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self.fields.set_field("TPWMTHRS", thresh)
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# TPOWERDOWN
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set_config_field(config, "TPOWERDOWN", 10)
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def setup_pin(self, pin_type, pin_params):
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if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
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raise pins.error("tmc5160 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 tmc5160 virtual endstop")
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return tmc2130.TMC2130VirtualEndstop(self)
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def query_registers(self, print_time=0.):
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return [(reg_name, self.get_register(reg_name))
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for reg_name in ReadRegisters]
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