295 lines
14 KiB
Python
295 lines
14 KiB
Python
# Common helper code for TMC stepper drivers
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#
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, collections
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######################################################################
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# Field helpers
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######################################################################
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# Return the position of the first bit set in a mask
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def ffs(mask):
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return (mask & -mask).bit_length() - 1
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class FieldHelper:
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def __init__(self, all_fields, signed_fields=[], field_formatters={},
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registers=None):
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self.all_fields = all_fields
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self.signed_fields = {sf: 1 for sf in signed_fields}
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self.field_formatters = field_formatters
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self.registers = registers
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if self.registers is None:
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self.registers = collections.OrderedDict()
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self.field_to_register = { f: r for r, fields in self.all_fields.items()
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for f in fields }
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def lookup_register(self, field_name, default=None):
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return self.field_to_register.get(field_name, default)
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def get_field(self, field_name, reg_value=None, reg_name=None):
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# Returns value of the register field
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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field_value = (reg_value & mask) >> ffs(mask)
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if field_name in self.signed_fields and ((reg_value & mask)<<1) > mask:
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field_value -= (1 << field_value.bit_length())
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return field_value
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def set_field(self, field_name, field_value, reg_value=None, reg_name=None):
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# Returns register value with field bits filled with supplied value
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if reg_name is None:
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reg_name = self.field_to_register[field_name]
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if reg_value is None:
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reg_value = self.registers.get(reg_name, 0)
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mask = self.all_fields[reg_name][field_name]
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new_value = (reg_value & ~mask) | ((field_value << ffs(mask)) & mask)
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self.registers[reg_name] = new_value
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return new_value
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def set_config_field(self, config, field_name, default):
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# Allow a field to be set from the config file
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config_name = "driver_" + field_name.upper()
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reg_name = self.field_to_register[field_name]
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mask = self.all_fields[reg_name][field_name]
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maxval = mask >> ffs(mask)
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if maxval == 1:
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val = config.getboolean(config_name, default)
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elif field_name in self.signed_fields:
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val = config.getint(config_name, default,
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minval=-(maxval//2 + 1), maxval=maxval//2)
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else:
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val = config.getint(config_name, default, minval=0, maxval=maxval)
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return self.set_field(field_name, val)
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def pretty_format(self, reg_name, reg_value):
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# Provide a string description of a register
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reg_fields = self.all_fields.get(reg_name, {})
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reg_fields = sorted([(mask, name) for name, mask in reg_fields.items()])
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fields = []
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for mask, field_name in reg_fields:
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field_value = self.get_field(field_name, reg_value, reg_name)
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sval = self.field_formatters.get(field_name, str)(field_value)
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if sval and sval != "0":
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fields.append(" %s=%s" % (field_name, sval))
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return "%-11s %08x%s" % (reg_name + ":", reg_value, "".join(fields))
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######################################################################
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# G-Code command helpers
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######################################################################
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class TMCCommandHelper:
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def __init__(self, config, mcu_tmc):
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self.printer = config.get_printer()
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self.stepper_name = ' '.join(config.get_name().split()[1:])
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self.name = config.get_name().split()[-1]
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.read_registers = self.read_translate = None
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self.toff = None
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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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# Register commands
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_mux_command(
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"SET_TMC_FIELD", "STEPPER", self.name,
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self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
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self.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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def _init_registers(self, print_time=None):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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self.mcu_tmc.set_register(reg_name, val, print_time)
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def _handle_connect(self):
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# Check for soft stepper enable/disable
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stepper_enable = self.printer.lookup_object('stepper_enable')
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enable_line = stepper_enable.lookup_enable(self.stepper_name)
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if not enable_line.has_dedicated_enable():
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self.toff = self.fields.get_field("toff")
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self.fields.set_field("toff", 0)
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enable_line.register_state_callback(self.handle_stepper_enable)
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logging.info("Enabling TMC virtual enable for '%s'",
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self.stepper_name)
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# Send init
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retry_count = 0
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while 1:
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try:
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self._init_registers()
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return
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except self.printer.command_error as e:
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logging.exception("TMC init error")
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retry_count += 1
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if retry_count > 5:
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raise self.printer.config_error(str(e))
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reactor = self.printer.get_reactor()
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reactor.pause(reactor.monotonic() + 1.)
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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 %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._init_registers(print_time)
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cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
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def cmd_SET_TMC_FIELD(self, params):
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if 'FIELD' not in params or 'VALUE' not in params:
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raise self.gcode.error("Invalid command format")
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field_name = self.gcode.get_str('FIELD', params)
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise self.gcode.error("Unknown field name '%s'" % (field_name,))
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value = self.gcode.get_int('VALUE', params)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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# Stepper enable/disable via comms
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def _do_enable(self, print_time, is_enable):
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toff_val = 0
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if is_enable:
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toff_val = self.toff
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print_time -= 0.100 # Schedule slightly before deadline
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val = self.fields.set_field("toff", toff_val)
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reg_name = self.fields.lookup_register("toff")
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self.mcu_tmc.set_register(reg_name, val, print_time)
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def handle_stepper_enable(self, print_time, is_enable):
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cb = (lambda ev: self._do_enable(print_time, is_enable))
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self.printer.get_reactor().register_callback(cb)
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# DUMP_TMC support
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def setup_register_dump(self, read_registers, read_translate=None):
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self.read_registers = read_registers
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self.read_translate = read_translate
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self.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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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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logging.info("DUMP_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.gcode.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in self.read_registers:
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self.gcode.respond_info(
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self.fields.pretty_format(reg_name, val))
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self.gcode.respond_info("========== Queried registers ==========")
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for reg_name in self.read_registers:
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val = self.mcu_tmc.get_register(reg_name)
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if self.read_translate is not None:
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reg_name, val = self.read_translate(reg_name, val)
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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 pins
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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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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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self.en_pwm = not self.fields.get_field("en_spreadCycle")
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self.pwmthrs = self.fields.get_field("TPWMTHRS")
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else:
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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self.pwmthrs = 0
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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.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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# On "stallguard4" drivers, "stealthchop" must be enabled
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self.mcu_tmc.set_register("TPWMTHRS", 0)
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val = self.fields.set_field("en_spreadCycle", 0)
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else:
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# On earlier drivers, "stealthchop" must be disabled
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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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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs)
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val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
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else:
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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 TMCVirtualPinHelper:
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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 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 pin")
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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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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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# Config reading helpers
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######################################################################
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# Helper to configure and query the microstep settings
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class TMCMicrostepHelper:
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def __init__(self, config, mcu_tmc):
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
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'8': 5, '4': 6, '2': 7, '1': 8}
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mres = config.getchoice('microsteps', steps)
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self.fields.set_field("MRES", mres)
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self.fields.set_field("intpol", config.getboolean("interpolate", True))
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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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field_name = "MSCNT"
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if self.fields.lookup_register(field_name, None) is None:
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# TMC2660 uses MSTEP
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field_name = "MSTEP"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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mscnt = self.fields.get_field(field_name, reg)
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return (1023 - mscnt) >> self.fields.get_field("MRES")
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# Helper to configure "stealthchop" mode
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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fields = mcu_tmc.get_fields()
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en_pwm_mode = False
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if velocity:
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stepper_name = " ".join(config.get_name().split()[1:])
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
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en_pwm_mode = True
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reg = fields.lookup_register("en_pwm_mode", None)
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if reg is not None:
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fields.set_field("en_pwm_mode", en_pwm_mode)
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else:
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# TMC2208 uses en_spreadCycle
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fields.set_field("en_spreadCycle", not en_pwm_mode)
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