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tmc: Reinitialize on every driver enable 

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>
This commit is contained in:
Kevin O'Connor 2021-02-20 20:14:45 -05:00
parent af8bfee210
commit 53b10d3ae7
1 changed files with 36 additions and 32 deletions
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64
klippy/extras/tmc.py
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@ -107,29 +107,6 @@ class TMCCommandHelper:
# Send registers
for reg_name, val in self.fields.registers.items():
self.mcu_tmc.set_register(reg_name, val, print_time)
def _handle_connect(self):
# Check for soft stepper enable/disable
stepper_enable = self.printer.lookup_object('stepper_enable')
enable_line = stepper_enable.lookup_enable(self.stepper_name)
if not enable_line.has_dedicated_enable():
self.toff = self.fields.get_field("toff")
self.fields.set_field("toff", 0)
enable_line.register_state_callback(self.handle_stepper_enable)
logging.info("Enabling TMC virtual enable for '%s'",
self.stepper_name)
# Send init
retry_count = 0
while 1:
try:
self._init_registers()
return
except self.printer.command_error as e:
logging.exception("TMC init error")
retry_count += 1
if retry_count > 5:
raise self.printer.config_error(str(e))
reactor = self.printer.get_reactor()
reactor.pause(reactor.monotonic() + 1.)
cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
def cmd_INIT_TMC(self, gcmd):
logging.info("INIT_TMC %s", self.name)
@ -168,18 +145,45 @@ class TMCCommandHelper:
else:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
# Stepper enable/disable via comms
def _do_enable(self, print_time, is_enable):
toff_val = 0
if is_enable:
toff_val = self.toff
# Stepper enable/disable tracking
def _do_enable(self, print_time):
try:
print_time -= 0.100 # Schedule slightly before deadline
val = self.fields.set_field("toff", toff_val)
if self.toff is not None:
# Shared enable via comms handling
val = self.fields.set_field("toff", self.toff)
self._init_registers(print_time)
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
def _do_disable(self, print_time):
try:
if self.toff is not None:
val = self.fields.set_field("toff", 0)
reg_name = self.fields.lookup_register("toff")
self.mcu_tmc.set_register(reg_name, val, print_time)
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
def handle_stepper_enable(self, print_time, is_enable):
cb = (lambda ev: self._do_enable(print_time, is_enable))
if is_enable:
cb = (lambda ev: self._do_enable(print_time))
else:
cb = (lambda ev: self._do_disable(print_time))
self.printer.get_reactor().register_callback(cb)
def _handle_connect(self):
# Check for soft stepper enable/disable
stepper_enable = self.printer.lookup_object('stepper_enable')
enable_line = stepper_enable.lookup_enable(self.stepper_name)
enable_line.register_state_callback(self.handle_stepper_enable)
if not enable_line.has_dedicated_enable():
self.toff = self.fields.get_field("toff")
self.fields.set_field("toff", 0)
logging.info("Enabling TMC virtual enable for '%s'",
self.stepper_name)
# Send init
try:
self._init_registers()
except self.printer.command_error as e:
logging.info("TMC %s failed to init: %s", self.name, str(e))
# DUMP_TMC support
def setup_register_dump(self, read_registers, read_translate=None):
self.read_registers = read_registers