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tmc2660: Add endstop phase detection functionality to TMC2660 extra (#816) 

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2018-10-24 22:01:12 +02:00 committed by KevinOConnor
parent 1a437c1fd1
commit b6bf455155
4 changed files with 17 additions and 6 deletions
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2
config/example-extras.cfg
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@ -333,7 +333,7 @@
# This specifies the number of phases of the given stepper motor # This specifies the number of phases of the given stepper motor
# driver (which is the number of micro-steps multiplied by four). # driver (which is the number of micro-steps multiplied by four).
# This setting is automatically determined if one uses TMC2130, # This setting is automatically determined if one uses TMC2130,
# TMC2208, or TMC2224 drivers with run-time configuration. # TMC2208, TMC2224 or TMC2660 drivers with run-time configuration.
# Otherwise, this parameter must be provided. # Otherwise, this parameter must be provided.
#endstop_accuracy: 0.200 #endstop_accuracy: 0.200
# Sets the expected accuracy (in mm) of the endstop. This represents # Sets the expected accuracy (in mm) of the endstop. This represents

6
docs/Endstop_Phase.md
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@ -26,9 +26,9 @@ the endstop trigger to improve the accuracy of the endstop.
In order to use this functionality it is necessary to be able to In order to use this functionality it is necessary to be able to
identify the phase of the stepper motor. If one is using Trinamic identify the phase of the stepper motor. If one is using Trinamic
TMC2130, TMC2208, or TMC2224 drivers in run-time configuration mode TMC2130, TMC2208, TMC2224 or TMC2660 drivers in run-time configuration
(ie, not stand-alone mode) then Klipper can query the stepper phase mode (ie, not stand-alone mode) then Klipper can query the stepper
from the driver. (It is also possible to use this system on phase from the driver. (It is also possible to use this system on
traditional stepper drivers if one can reliably reset the stepper traditional stepper drivers if one can reliably reset the stepper
drivers - see below for details.) drivers - see below for details.)

2
klippy/extras/endstop_phase.py
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@ -6,7 +6,7 @@
import math, logging import math, logging
import homing import homing
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208"] TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2660"]
class EndstopPhase: class EndstopPhase:
def __init__(self, config): def __init__(self, config):

13
klippy/extras/tmc2660.py
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@ -162,7 +162,7 @@ class TMC2660:
self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False self.driver_sdoff = False # since we don't support SPI mode yet, this has to be False
vsense = {'low': 0, 'high': 1} vsense = {'low': 0, 'high': 1}
self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high') self.driver_vsense = config.getchoice('driver_VSENSE', vsense, default='high')
self.driver_rdsel = 2 # stallguard2 and coolstep current level self.driver_rdsel = 0 # Microsteps (used by endstop phase)
# Build and send registers # Build and send registers
@ -248,6 +248,17 @@ class TMC2660:
self.is_idle = True self.is_idle = True
return eventtime + 0.1 return eventtime + 0.1
def get_microsteps(self):
return 256 >> self.driver_mres
def get_phase(self):
# Send DRVCTRL to get a response
reg_data = [(self.reg_drvctrl >> 16) & 0xff, (self.reg_drvctrl >> 8) & 0xff, self.reg_drvctrl & 0xff]
params = self.spi_transfer_cmd.send_with_response([self.oid, reg_data], 'spi_transfer_response', self.oid)
pr = bytearray(params['response'])
steps = (((pr[0] << 16) | (pr[1] << 8) | pr[2]) & READRSP['MSTEP'][1]) >> READRSP['MSTEP'][0]
return steps >> self.driver_mres
def set_current(self, current): def set_current(self, current):
self.driver_cs = current_to_reg(current) self.driver_cs = current_to_reg(current)
reg = self.reg_sgcsconf reg = self.reg_sgcsconf