tmc2130: Add support for INIT_TMC command

Signed-off-by: Frank Kang <amblidex@outlook.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/G-Codes.md

@@ -287,12 +287,15 @@ section is enabled:
   carriage. It is typically invoked from the activate_gcode and
   deactivate_gcode fields in a multiple extruder configuration.
 
-## TMC2130
+## TMC2130 and TMC2208
 
-The following command is available when the "tmc2130" config section
+The following command is available when the "tmc2130" or "tmc2208"
-is enabled:
+config section is enabled:
-- `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver
+- `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
   registers and report their values.
+- `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
+  registers. Needed to re-enable the driver if power to the chip is
+  turned off then back on.
 
 ## Endstop adjustments by stepper phase
 

klippy/extras/tmc2130.py

@@ -211,11 +211,14 @@ class TMC2130:
         self.diag1_pin = config.get('diag1_pin', None)
         ppins = self.printer.lookup_object("pins")
         ppins.register_chip("tmc2130_" + self.name, self)
-        # Add DUMP_TMC command
+        # Add DUMP_TMC, INIT_TMC command
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command(
             "DUMP_TMC", "STEPPER", self.name,
             self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
+        gcode.register_mux_command(
+            "INIT_TMC", "STEPPER", self.name,
+            self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
         # Setup basic register values
         self.regs = collections.OrderedDict()
         self.fields = FieldHelper(Fields, FieldFormatters, self.regs)
@@ -242,9 +245,11 @@ class TMC2130:
         set_config_field(config, "pwm_autoscale", True)
         sgt = config.getint('driver_SGT', 0, minval=-64, maxval=63) & 0x7f
         self.fields.set_field("sgt", sgt)
+        self._init_registers()
+    def _init_registers(self, min_clock = 0):
         # Send registers
         for reg_name, val in self.regs.items():
-            self.set_register(reg_name, val)
+            self.set_register(reg_name, val, min_clock)
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc2130 virtual endstop only useful as endstop")
@@ -257,11 +262,11 @@ class TMC2130:
         params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
         pr = bytearray(params['response'])
         return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
-    def set_register(self, reg_name, val):
+    def set_register(self, reg_name, val, min_clock = 0):
         reg = Registers[reg_name]
         data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
                 (val >> 8) & 0xff, val & 0xff]
-        self.spi.spi_send(data)
+        self.spi.spi_send(data, min_clock)
     def get_microsteps(self):
         return 256 >> self.fields.get_field("MRES")
     def get_phase(self):
@@ -284,6 +289,12 @@ class TMC2130:
             msg = self.fields.pretty_format(reg_name, val)
             logging.info(msg)
             gcode.respond_info(msg)
+    cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
+    def cmd_INIT_TMC(self, params):
+        logging.info("INIT_TMC 2130 %s", self.name)
+        print_time = self.printer.lookup_object('toolhead').get_last_move_time();
+        min_clock = self.spi.get_mcu().print_time_to_clock(print_time)
+        self._init_registers(min_clock)
 
 # Endstop wrapper that enables tmc2130 "sensorless homing"
 class TMC2130VirtualEndstop:

klippy/extras/tmc2208.py

@@ -248,7 +248,7 @@ class TMC2208:
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
         self.printer.register_event_handler("klippy:connect",
-                                            self.handle_connect)
+                                            self._init_registers)
         # pin setup
         ppins = self.printer.lookup_object("pins")
         rx_pin_params = ppins.lookup_pin(
@@ -267,11 +267,14 @@ class TMC2208:
         self.oid = self.mcu.create_oid()
         self.tmcuart_send_cmd = None
         self.mcu.register_config_callback(self.build_config)
-        # Add DUMP_TMC command
+        # Add DUMP_TMC, INIT_TMC command
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command(
             "DUMP_TMC", "STEPPER", self.name,
             self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
+        gcode.register_mux_command(
+            "INIT_TMC", "STEPPER", self.name,
+            self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
         # Setup basic register values
         self.ifcnt = None
         self.regs = collections.OrderedDict()
@@ -311,7 +314,8 @@ class TMC2208:
         cmd_queue = self.mcu.alloc_command_queue()
         self.tmcuart_send_cmd = self.mcu.lookup_command(
             "tmcuart_send oid=%c write=%*s read=%c", cq=cmd_queue)
-    def handle_connect(self):
+    def _init_registers(self):
+        # Send registers
         for reg_name, val in self.regs.items():
             self.set_register(reg_name, val)
     def get_register(self, reg_name):
@@ -372,6 +376,11 @@ class TMC2208:
             msg = self.fields.pretty_format(reg_name, val)
             logging.info(msg)
             gcode.respond_info(msg)
+    cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
+    def cmd_INIT_TMC(self, params):
+        logging.info("INIT_TMC 2208 %s", self.name)
+        self.printer.lookup_object('toolhead').wait_moves()
+        self._init_registers()
 
 def load_config_prefix(config):
     return TMC2208(config)