tmc2130: Add support for INIT_TMC command
Signed-off-by: Frank Kang <amblidex@outlook.com> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -287,12 +287,15 @@ section is enabled:
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carriage. It is typically invoked from the activate_gcode and
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deactivate_gcode fields in a multiple extruder configuration.
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## TMC2130
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## TMC2130 and TMC2208
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The following command is available when the "tmc2130" config section
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is enabled:
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- `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver
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The following command is available when the "tmc2130" or "tmc2208"
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config section is enabled:
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- `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
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registers and report their values.
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- `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
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registers. Needed to re-enable the driver if power to the chip is
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turned off then back on.
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## Endstop adjustments by stepper phase
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@ -211,11 +211,14 @@ class TMC2130:
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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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# Add DUMP_TMC command
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# Add DUMP_TMC, INIT_TMC command
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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self.regs = collections.OrderedDict()
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self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
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@ -242,9 +245,11 @@ class TMC2130:
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set_config_field(config, "pwm_autoscale", True)
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sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
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self.fields.set_field("sgt", sgt)
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self._init_registers()
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def _init_registers(self, min_clock = 0):
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# Send registers
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val)
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self.set_register(reg_name, val, min_clock)
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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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@ -257,11 +262,11 @@ class TMC2130:
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params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
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pr = bytearray(params['response'])
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return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
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def set_register(self, reg_name, val):
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def set_register(self, reg_name, val, min_clock = 0):
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reg = Registers[reg_name]
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi.spi_send(data)
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self.spi.spi_send(data, min_clock)
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def get_microsteps(self):
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return 256 >> self.fields.get_field("MRES")
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def get_phase(self):
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@ -284,6 +289,12 @@ class TMC2130:
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msg = self.fields.pretty_format(reg_name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2130 %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time();
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min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
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self._init_registers(min_clock)
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# Endstop wrapper that enables tmc2130 "sensorless homing"
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class TMC2130VirtualEndstop:
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@ -248,7 +248,7 @@ class TMC2208:
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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self._init_registers)
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# pin setup
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ppins = self.printer.lookup_object("pins")
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rx_pin_params = ppins.lookup_pin(
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@ -267,11 +267,14 @@ class TMC2208:
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self.oid = self.mcu.create_oid()
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self.tmcuart_send_cmd = None
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self.mcu.register_config_callback(self.build_config)
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# Add DUMP_TMC command
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# Add DUMP_TMC, INIT_TMC command
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gcode = self.printer.lookup_object("gcode")
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gcode.register_mux_command(
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"DUMP_TMC", "STEPPER", self.name,
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self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
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gcode.register_mux_command(
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"INIT_TMC", "STEPPER", self.name,
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self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
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# Setup basic register values
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self.ifcnt = None
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self.regs = collections.OrderedDict()
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@ -311,7 +314,8 @@ class TMC2208:
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cmd_queue = self.mcu.alloc_command_queue()
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self.tmcuart_send_cmd = self.mcu.lookup_command(
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"tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
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def handle_connect(self):
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def _init_registers(self):
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# Send registers
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for reg_name, val in self.regs.items():
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self.set_register(reg_name, val)
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def get_register(self, reg_name):
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@ -372,6 +376,11 @@ class TMC2208:
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msg = self.fields.pretty_format(reg_name, val)
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logging.info(msg)
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gcode.respond_info(msg)
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, params):
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logging.info("INIT_TMC 2208 %s", self.name)
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self.printer.lookup_object('toolhead').wait_moves()
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self._init_registers()
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def load_config_prefix(config):
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return TMC2208(config)
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