Make all the microstep lookup table registers configurable via the
config file. It also loads the default values.
TMC220x and TMC2660 do not support this feature.
Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
If a tmc driver can't find the stepper config section it reports a
"missing microsteps" error which can be confusing. Provide a more
explicit error message.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support altering the extruder distance using the higher-level
rotation_distance. This is in preparation for removal of the
SET_EXTRUDER_STEP_DISTANCE command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add an optimized step function for drivers that support stepping on
both rising and falling edges of the step pin. Enable this
optimization on 32bit ARM micro-controllers. Automatically detect
this capability in the host code and enable on TMC drivers running in
SPI/UART mode.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code automatically reduces the hold_current so that it is no
greater than the run_current. However, this could lead to confusing
behavior if one reduced and then increased the run_current via
SET_TMC_CURRENT commands. To avoid that, this change adds support for
tracking the requested hold_current - thus changes to run_current
don't subtly alter the hold_current.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the choice mapping uses integer keys then lookup the config option
using self.getint(). This simplifies the callers and improves the
encoding of the printer.configfile.settings export.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Track the offset between driver phase and mcu position. This offset
should be constant as long as neither the driver nor the mcu is reset.
If the offset ever changes, log a warning.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Trinamic specs aren't consistent with upper vs lower case, which
can be confusing. Improve clarity by using lower case names
consistently in the code. Register names will continue to use all
upper case naming in the code.
Update the SET_TMC_FIELD command to automatically convert field names
to lower case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
With commit 53b10d3a the setup of sensorless homing could occur before
the driver was enabled which would cause the reinitialization of the
driver settings to undo the sensorless homing setup.
Use set_field() when setting the sensorless homing registers so that
it wont conflict with a driver init.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check the status of all Trinamic stepper motor drivers once a second.
If the driver reports an error then invoke a shutdown. Also log any
serious warnings.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Send the full TMC stepper motor driver initialization sequence every
time the driver is enabled.
Don't raise an error on startup if unable to contact a tmc2208/tmc2209
driver. If the driver is still unavailable when it is enabled then a
shutdown will be issued. This allows users to troubleshoot (and
possibly bring up communication to the driver) prior to enabling the
driver.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Refactor the tmc driver implementations so that there is a single
implementation of the SET_TMC_CURRENT command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for automatically calculating the internal step_distance
from new config parameters - rotation_distance, microsteps,
full_steps_per_rotation, and gear_ratio.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not valid to set the TPWMTHRS in a "klippy:connect" event handler
because the TMCVirtualPinHelper and TMCCommandHelper classes were
expecting that field to be set during the config reading phase.
Revert "tmc: Fix typo preventing stealthchop threshold from being set"
This reverts commit 7d76067ff9.
Revert "tmc: Query the stepper step_distance from the stepper object"
This reverts commit 67b2852249.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end". This simplifies the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Automatically detect if the stepper has a dedicated enable line. If
it does not, then automatically enable virtual enable support.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for enabling the stepper via the communication channel.
This improves support for boards with a shared enable line.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
A print_time of zero may translate to a negative clock on a secondary
micro-controller, which would cause an internal error. Change the
code to pass a real print_time or None if it is not needed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only the tmc2208 driver needs special read register translation logic.
Rework the code so a default implementation is available for all the
other drivers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Alex Voinea