mirror of https://github.com/Desuuuu/klipper.git
tmc: Remove virtual_enable support and replace with automatic support
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>
This commit is contained in:
Kevin O'Connor
parent
a4995c61c9
commit
77dff35fae
|
|
@ -1206,10 +1206,7 @@
|
|||
# Configure a TMC2130 stepper motor driver via SPI bus. To use this
|
||||
# feature, define a config section with a "tmc2130" prefix followed by
|
||||
# the name of the corresponding stepper config section (for example,
|
||||
# "[tmc2130 stepper_x]"). This also creates a
|
||||
# "tmc2130_stepper_x:virtual_enable" virtual pin which may be used as
|
||||
# the stepper's enable_pin (for enabling the driver via an SPI
|
||||
# message).
|
||||
# "[tmc2130 stepper_x]").
|
||||
#[tmc2130 stepper_x]
|
||||
#cs_pin:
|
||||
# The pin corresponding to the TMC2130 chip select line. This pin
|
||||
|
|
@ -1271,10 +1268,7 @@
|
|||
# Configure a TMC2208 (or TMC2224) stepper motor driver via single
|
||||
# wire UART. To use this feature, define a config section with a
|
||||
# "tmc2208" prefix followed by the name of the corresponding stepper
|
||||
# config section (for example, "[tmc2208 stepper_x]"). This also
|
||||
# creates a "tmc2208_stepper_x:virtual_enable" virtual pin which may
|
||||
# be used as the stepper's enable_pin (for enabling the driver via a
|
||||
# UART message).
|
||||
# config section (for example, "[tmc2208 stepper_x]").
|
||||
#[tmc2208 stepper_x]
|
||||
#uart_pin:
|
||||
# The pin connected to the TMC2208 PDN_UART line. This parameter
|
||||
|
|
@ -1331,10 +1325,7 @@
|
|||
# Configure a TMC2209 stepper motor driver via single wire UART. To
|
||||
# use this feature, define a config section with a "tmc2209" prefix
|
||||
# followed by the name of the corresponding stepper config section
|
||||
# (for example, "[tmc2209 stepper_x]"). This also creates a
|
||||
# "tmc2209_stepper_x:virtual_enable" virtual pin which may be used as
|
||||
# the stepper's enable_pin (for enabling the driver via a UART
|
||||
# message).
|
||||
# (for example, "[tmc2209 stepper_x]").
|
||||
#[tmc2209 stepper_x]
|
||||
#uart_pin:
|
||||
#tx_pin:
|
||||
|
|
@ -1380,10 +1371,7 @@
|
|||
# Configure a TMC2660 stepper motor driver via SPI bus. To use this
|
||||
# feature, define a config section with a tmc2660 prefix followed by
|
||||
# the name of the corresponding stepper config section (for example,
|
||||
# "[tmc2660 stepper_x]"). This also creates a
|
||||
# "tmc2660_stepper_x:virtual_enable" virtual pin which may be used as
|
||||
# the stepper's enable_pin (for enabling the driver via an SPI
|
||||
# message).
|
||||
# "[tmc2660 stepper_x]").
|
||||
#[tmc2660 stepper_x]
|
||||
#cs_pin:
|
||||
# The pin corresponding to the TMC2660 chip select line. This pin
|
||||
|
|
@ -1455,10 +1443,7 @@
|
|||
# Configure a TMC5160 stepper motor driver via SPI bus. To use this
|
||||
# feature, define a config section with a "tmc5160" prefix followed by
|
||||
# the name of the corresponding stepper config section (for example,
|
||||
# "[tmc5160 stepper_x]"). This also creates a
|
||||
# "tmc5160_stepper_x:virtual_enable" virtual pin which may be used as
|
||||
# the stepper's enable_pin (for enabling the driver via an SPI
|
||||
# message).
|
||||
# "[tmc5160 stepper_x]").
|
||||
#[tmc5160 stepper_x]
|
||||
#cs_pin:
|
||||
# The pin corresponding to the TMC5160 chip select line. This pin
|
||||
|
|
|
|||
|
|
@ -86,7 +86,7 @@
|
|||
[stepper_x]
|
||||
step_pin: PD6
|
||||
dir_pin: PD11
|
||||
enable_pin: !PC6, tmc2660_stepper_x:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PC14
|
||||
position_endstop: 0
|
||||
|
|
@ -104,7 +104,7 @@ idle_current_percent: 20
|
|||
[stepper_y]
|
||||
step_pin: PD7
|
||||
dir_pin: !PD12
|
||||
enable_pin: !PC6, tmc2660_stepper_y:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PA2
|
||||
position_endstop: 0
|
||||
|
|
@ -122,7 +122,7 @@ idle_current_percent: 20
|
|||
[stepper_z]
|
||||
step_pin: PD8
|
||||
dir_pin: PD13
|
||||
enable_pin: !PC6, tmc2660_stepper_z:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0025
|
||||
endstop_pin: ^PD29
|
||||
position_endstop: 0.5
|
||||
|
|
@ -140,7 +140,7 @@ sense_resistor: 0.051
|
|||
[stepper_z1]
|
||||
step_pin: PD0
|
||||
dir_pin: PD16
|
||||
enable_pin: !PC6, tmc2660_stepper_z1:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0025
|
||||
|
||||
[tmc2660 stepper_z1]
|
||||
|
|
@ -155,7 +155,7 @@ sense_resistor: 0.051
|
|||
[stepper_z2]
|
||||
step_pin: PD3
|
||||
dir_pin: !PD17
|
||||
enable_pin: !PC6, tmc2660_stepper_z2:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0025
|
||||
|
||||
[tmc2660 stepper_z2]
|
||||
|
|
@ -170,7 +170,7 @@ sense_resistor: 0.051
|
|||
[stepper_z3]
|
||||
step_pin: PD27
|
||||
dir_pin: !PC0
|
||||
enable_pin: !PC6, tmc2660_stepper_z3:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0025
|
||||
|
||||
[tmc2660 stepper_z3]
|
||||
|
|
@ -185,7 +185,7 @@ sense_resistor: 0.051
|
|||
[extruder]
|
||||
step_pin: PD5
|
||||
dir_pin: PA1
|
||||
enable_pin: !PC6, tmc2660_extruder:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
@ -211,7 +211,7 @@ sense_resistor: 0.051
|
|||
[extruder1]
|
||||
step_pin: PD4
|
||||
dir_pin: PD9
|
||||
enable_pin: !PC6, tmc2660_extruder1:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
@ -237,7 +237,7 @@ sense_resistor: 0.051
|
|||
[extruder2]
|
||||
step_pin: PD2
|
||||
dir_pin: !PD28
|
||||
enable_pin: !PC6, tmc2660_extruder2:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
@ -263,7 +263,7 @@ sense_resistor: 0.051
|
|||
[extruder3]
|
||||
step_pin: PD1
|
||||
dir_pin: !PD22
|
||||
enable_pin: !PC6, tmc2660_extruder3:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
[stepper_x]
|
||||
step_pin: PC20
|
||||
dir_pin: PC18
|
||||
enable_pin: !PA1, tmc2208_stepper_x:virtual_enable
|
||||
enable_pin: !PA1
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PA24
|
||||
position_endstop: 0
|
||||
|
|
@ -25,7 +25,7 @@ stealthchop_threshold: 250
|
|||
[stepper_y]
|
||||
step_pin: PC2
|
||||
dir_pin: PA8
|
||||
enable_pin: !PA1, tmc2208_stepper_y:virtual_enable
|
||||
enable_pin: !PA1
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PB6
|
||||
position_endstop: 0
|
||||
|
|
@ -44,7 +44,7 @@ stealthchop_threshold: 250
|
|||
[stepper_z]
|
||||
step_pin: PC28
|
||||
dir_pin: PB4
|
||||
enable_pin: !PA1, tmc2208_stepper_z:virtual_enable
|
||||
enable_pin: !PA1
|
||||
step_distance: .0025
|
||||
endstop_pin: ^PC10
|
||||
position_endstop: 0.5
|
||||
|
|
@ -62,7 +62,7 @@ stealthchop_threshold: 30
|
|||
[extruder]
|
||||
step_pin: PC4
|
||||
dir_pin: PB7
|
||||
enable_pin: !PA1, tmc2208_extruder:virtual_enable
|
||||
enable_pin: !PA1
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
[stepper_x]
|
||||
step_pin: PD6
|
||||
dir_pin: PD11
|
||||
enable_pin: !PC6, tmc2660_stepper_x:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PC14
|
||||
position_endstop: 0
|
||||
|
|
@ -22,7 +22,7 @@ sense_resistor: 0.051
|
|||
[stepper_y]
|
||||
step_pin: PD7
|
||||
dir_pin: !PD12
|
||||
enable_pin: !PC6, tmc2660_stepper_y:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0125
|
||||
endstop_pin: ^PA2
|
||||
position_endstop: 0
|
||||
|
|
@ -38,7 +38,7 @@ sense_resistor: 0.051
|
|||
[stepper_z]
|
||||
step_pin: PD8
|
||||
dir_pin: PD13
|
||||
enable_pin: !PC6, tmc2660_stepper_z:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .0025
|
||||
endstop_pin: ^PD29
|
||||
#endstop_pin: PD10 # E0 endstop
|
||||
|
|
@ -56,7 +56,7 @@ sense_resistor: 0.051
|
|||
[extruder]
|
||||
step_pin: PD5
|
||||
dir_pin: PA1
|
||||
enable_pin: !PC6, tmc2660_extruder:virtual_enable
|
||||
enable_pin: !PC6
|
||||
step_distance: .002
|
||||
nozzle_diameter: 0.400
|
||||
filament_diameter: 1.750
|
||||
|
|
@ -80,7 +80,7 @@ sense_resistor: 0.051
|
|||
#[extruder1]
|
||||
#step_pin: PD4
|
||||
#dir_pin: PD9
|
||||
#enable_pin: !PC6, tmc2660_extruder1:virtual_enable
|
||||
#enable_pin: !PC6
|
||||
#heater_pin: !PA16
|
||||
#sensor_pin: PC12
|
||||
#...
|
||||
|
|
|
|||
|
|
@ -6,6 +6,11 @@ All dates in this document are approximate.
|
|||
|
||||
# Changes
|
||||
|
||||
20191112: The tmc stepper driver virtual enable capability is now
|
||||
automatically enabled if the stepper does not have a dedicated stepper
|
||||
enable pin. Remove references to tmcXXXX:virtual_enable from the
|
||||
config.
|
||||
|
||||
20191107: The primary extruder config section must be specified as
|
||||
"extruder" and may no longer be specified as "extruder0". Gcode
|
||||
command templates that query the extruder status are now accessed via
|
||||
|
|
|
|||
|
|
@ -12,6 +12,7 @@ class StepperEnablePin:
|
|||
def __init__(self, mcu_enable, enable_count=0):
|
||||
self.mcu_enable = mcu_enable
|
||||
self.enable_count = enable_count
|
||||
self.is_dedicated = enable_count == 0
|
||||
def set_enable(self, print_time):
|
||||
if not self.enable_count:
|
||||
self.mcu_enable.set_digital(print_time, 1)
|
||||
|
|
@ -25,6 +26,7 @@ class StepperEnablePin:
|
|||
class StepperMultiEnablePin:
|
||||
def __init__(self, enable_list):
|
||||
self.enable_list = enable_list
|
||||
self.is_dedicated = False
|
||||
def set_enable(self, print_time):
|
||||
for en in self.enable_list:
|
||||
en.set_enable(print_time)
|
||||
|
|
@ -45,6 +47,8 @@ def lookup_enable_pin(ppins, pin_list):
|
|||
mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
|
||||
mcu_enable.setup_max_duration(0.)
|
||||
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
|
||||
else:
|
||||
enable.is_dedicated = False
|
||||
enable_list.append(enable)
|
||||
if len(enable_list) == 1:
|
||||
return enable_list[0]
|
||||
|
|
@ -54,21 +58,30 @@ def lookup_enable_pin(ppins, pin_list):
|
|||
class EnableTracking:
|
||||
def __init__(self, printer, stepper, pin):
|
||||
self.stepper = stepper
|
||||
self.callbacks = []
|
||||
self.is_enabled = False
|
||||
self.stepper.add_active_callback(self.motor_enable)
|
||||
self.enable = lookup_enable_pin(printer.lookup_object('pins'), pin)
|
||||
def register_state_callback(self, callback):
|
||||
self.callbacks.append(callback)
|
||||
def motor_enable(self, print_time):
|
||||
if not self.is_enabled:
|
||||
for cb in self.callbacks:
|
||||
cb(print_time, True)
|
||||
self.enable.set_enable(print_time)
|
||||
self.is_enabled = True
|
||||
def motor_disable(self, print_time):
|
||||
if self.is_enabled:
|
||||
# Enable stepper on future stepper movement
|
||||
for cb in self.callbacks:
|
||||
cb(print_time, False)
|
||||
self.enable.set_disable(print_time)
|
||||
self.is_enabled = False
|
||||
self.stepper.add_active_callback(self.motor_enable)
|
||||
def is_motor_enabled(self):
|
||||
return self.is_enabled
|
||||
def has_dedicated_enable(self):
|
||||
return self.enable.is_dedicated
|
||||
|
||||
class PrinterStepperEnable:
|
||||
def __init__(self, config):
|
||||
|
|
|
|||
|
|
@ -82,10 +82,15 @@ class FieldHelper:
|
|||
class TMCCommandHelper:
|
||||
def __init__(self, config, mcu_tmc):
|
||||
self.printer = config.get_printer()
|
||||
self.stepper_name = ' '.join(config.get_name().split()[1:])
|
||||
self.name = config.get_name().split()[-1]
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.fields = mcu_tmc.get_fields()
|
||||
self.read_registers = self.read_translate = None
|
||||
self.toff = None
|
||||
self.printer.register_event_handler("klippy:connect",
|
||||
self._handle_connect)
|
||||
# Register commands
|
||||
self.gcode = self.printer.lookup_object("gcode")
|
||||
self.gcode.register_mux_command(
|
||||
"SET_TMC_FIELD", "STEPPER", self.name,
|
||||
|
|
@ -93,13 +98,21 @@ class TMCCommandHelper:
|
|||
self.gcode.register_mux_command(
|
||||
"INIT_TMC", "STEPPER", self.name,
|
||||
self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
|
||||
self.printer.register_event_handler("klippy:connect",
|
||||
self._handle_connect)
|
||||
def _init_registers(self, print_time=None):
|
||||
# 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:
|
||||
|
|
@ -129,6 +142,18 @@ class TMCCommandHelper:
|
|||
reg_val = self.fields.set_field(field_name, value)
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
self.mcu_tmc.set_register(reg_name, reg_val, print_time)
|
||||
# Stepper enable/disable via comms
|
||||
def _do_enable(self, print_time, is_enable):
|
||||
toff_val = 0
|
||||
if is_enable:
|
||||
toff_val = self.toff
|
||||
print_time -= 0.100 # Schedule slightly before deadline
|
||||
val = self.fields.set_field("toff", toff_val)
|
||||
reg_name = self.fields.lookup_register("toff")
|
||||
self.mcu_tmc.set_register(reg_name, val, print_time)
|
||||
def handle_stepper_enable(self, print_time, is_enable):
|
||||
cb = (lambda ev: self._do_enable(print_time, is_enable))
|
||||
self.printer.get_reactor().register_callback(cb)
|
||||
# DUMP_TMC support
|
||||
def setup_register_dump(self, read_registers, read_translate=None):
|
||||
self.read_registers = read_registers
|
||||
|
|
@ -203,30 +228,8 @@ class TMCVirtualEndstop:
|
|||
self.mcu_tmc.set_register("TCOOLTHRS", 0)
|
||||
self.mcu_endstop.home_finalize()
|
||||
|
||||
# Digital output wrapper for virtual enable
|
||||
class TMCVirtualEnable:
|
||||
def __init__(self, printer, mcu_tmc):
|
||||
self.reactor = printer.get_reactor()
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.fields = mcu_tmc.get_fields()
|
||||
self.toff = self.fields.get_field("toff")
|
||||
self.fields.set_field("toff", 0)
|
||||
def setup_max_duration(self, max_duration):
|
||||
pass
|
||||
def _do_set_digital(self, print_time, value):
|
||||
toff_val = 0
|
||||
if value:
|
||||
toff_val = self.toff
|
||||
print_time -= 0.100 # Schedule slightly before deadline
|
||||
val = self.fields.set_field("toff", toff_val)
|
||||
reg_name = self.fields.lookup_register("toff")
|
||||
self.mcu_tmc.set_register(reg_name, val, print_time)
|
||||
def set_digital(self, print_time, value):
|
||||
self.reactor.register_callback(
|
||||
(lambda ev: self._do_set_digital(print_time, value)))
|
||||
|
||||
class TMCVirtualPinHelper:
|
||||
def __init__(self, config, mcu_tmc, diag_pin=None):
|
||||
def __init__(self, config, mcu_tmc, diag_pin):
|
||||
self.printer = config.get_printer()
|
||||
self.mcu_tmc = mcu_tmc
|
||||
self.diag_pin = diag_pin
|
||||
|
|
@ -235,18 +238,12 @@ class TMCVirtualPinHelper:
|
|||
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
|
||||
def setup_pin(self, pin_type, pin_params):
|
||||
ppins = self.printer.lookup_object('pins')
|
||||
if pin_params['pin'] not in ('virtual_endstop', 'virtual_enable'):
|
||||
raise ppins.error("Unknown tmc virtual pin")
|
||||
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
|
||||
raise ppins.error("tmc virtual endstop only useful as endstop")
|
||||
if pin_params['invert'] or pin_params['pullup']:
|
||||
raise ppins.error("Can not pullup/invert tmc virtual pin")
|
||||
if pin_params['pin'] == 'virtual_enable':
|
||||
if pin_type != 'digital_out':
|
||||
raise ppins.error("tmc virtual enable only useful for enable")
|
||||
return TMCVirtualEnable(self.printer, self.mcu_tmc)
|
||||
if self.diag_pin is None:
|
||||
raise ppins.error("tmc virtual endstop requires diag pin config")
|
||||
if pin_type != 'endstop':
|
||||
raise ppins.error("tmc virtual endstop only useful as endstop")
|
||||
mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
|
||||
return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
|
||||
|
||||
|
|
|
|||
|
|
@ -187,8 +187,6 @@ class TMC2208:
|
|||
# Setup mcu communication
|
||||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
|
||||
# Allow virtual pins to be created
|
||||
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
|
||||
# Register commands
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
|
||||
|
|
|
|||
|
|
@ -242,8 +242,6 @@ class TMC2660:
|
|||
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
|
||||
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
|
||||
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
|
||||
# Allow virtual pins to be created
|
||||
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
|
||||
# Register commands
|
||||
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
|
||||
cmdhelper.setup_register_dump(ReadRegisters)
|
||||
|
|
|
|||
Loading…
Reference in New Issue