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tmc: Improve driver reset check on tmc2130 and tmc2660 

Use the CS_ACTUAL/SE field to check for a mid-print driver reset.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-15 11:16:15 -04:00
parent d184d9fd91
commit 86a924f5a6
1 changed files with 23 additions and 9 deletions
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30
klippy/extras/tmc.py
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@ -91,12 +91,23 @@ class TMCErrorCheck:
# Setup for GSTAT query # Setup for GSTAT query
reg_name = self.fields.lookup_register("drv_err") reg_name = self.fields.lookup_register("drv_err")
if reg_name is not None: if reg_name is not None:
self.gstat_reg_info = [0, reg_name, 0xffffffff, 0xffffffff] self.gstat_reg_info = [0, reg_name, 0xffffffff, 0xffffffff, 0]
else: else:
self.gstat_reg_info = None self.gstat_reg_info = None
self.clear_gstat = True
# Setup for DRV_STATUS query # Setup for DRV_STATUS query
reg_name = self.fields.lookup_register("ot") self.irun_field = "IRUN"
mask = err_mask = 0 reg_name = "DRV_STATUS"
mask = err_mask = cs_actual_mask = 0
if name_parts[0] == 'tmc2130':
# TMC2130 driver quirks
self.clear_gstat = False
cs_actual_mask = self.fields.all_fields[reg_name]["CS_ACTUAL"]
elif name_parts[0] == 'tmc2660':
# TMC2660 driver quirks
self.irun_field = "CS"
reg_name = "READRSP@RDSEL2"
cs_actual_mask = self.fields.all_fields[reg_name]["SE"]
err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"] err_fields = ["ot", "s2ga", "s2gb", "s2vsa", "s2vsb"]
warn_fields = ["otpw", "t120", "t143", "t150", "t157"] warn_fields = ["otpw", "t120", "t143", "t150", "t157"]
for f in err_fields + warn_fields: for f in err_fields + warn_fields:
@ -104,11 +115,9 @@ class TMCErrorCheck:
mask |= self.fields.all_fields[reg_name][f] mask |= self.fields.all_fields[reg_name][f]
if f in err_fields: if f in err_fields:
err_mask |= self.fields.all_fields[reg_name][f] err_mask |= self.fields.all_fields[reg_name][f]
self.drv_status_reg_info = [0, reg_name, mask, err_mask] self.drv_status_reg_info = [0, reg_name, mask, err_mask, cs_actual_mask]
# Driver quirks
self.clear_gstat = (name_parts[0] != 'tmc2130')
def _query_register(self, reg_info, try_clear=False): def _query_register(self, reg_info, try_clear=False):
last_value, reg_name, mask, err_mask = reg_info last_value, reg_name, mask, err_mask, cs_actual_mask = reg_info
count = 0 count = 0
while 1: while 1:
try: try:
@ -126,13 +135,18 @@ class TMCErrorCheck:
logging.info("TMC '%s' reports %s", self.stepper_name, fmt) logging.info("TMC '%s' reports %s", self.stepper_name, fmt)
reg_info[0] = last_value = val reg_info[0] = last_value = val
if not val & err_mask: if not val & err_mask:
if not cs_actual_mask or val & cs_actual_mask:
break break
irun = self.fields.get_field(self.irun_field)
if self.check_timer is None or irun < 4:
break
# CS_ACTUAL field of zero - indicates a driver reset
count += 1 count += 1
if count >= 3: if count >= 3:
fmt = self.fields.pretty_format(reg_name, val) fmt = self.fields.pretty_format(reg_name, val)
raise self.printer.command_error("TMC '%s' reports error: %s" raise self.printer.command_error("TMC '%s' reports error: %s"
% (self.stepper_name, fmt)) % (self.stepper_name, fmt))
if try_clear: if try_clear and val & err_mask:
try_clear = False try_clear = False
self.mcu_tmc.set_register(reg_name, val & err_mask) self.mcu_tmc.set_register(reg_name, val & err_mask)
def _do_periodic_check(self, eventtime, try_clear=False): def _do_periodic_check(self, eventtime, try_clear=False):