tmc5160: diag0 support (#3159)

Allow for diag0 only hardware to use sensorless homing.

Signed-off-by:  Trevor Jones <trevorjones141@gmail.com>

config/example-extras.cfg

@@ -1436,14 +1436,16 @@
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
 #   above list.
+#diag0_pin:
 #diag1_pin:
-#   The micro-controller pin attached to the DIAG1 line of the TMC2130
-#   chip. Setting this creates a "tmc2130_stepper_x:virtual_endstop"
-#   virtual pin which may be used as the stepper's endstop_pin. Doing
-#   this enables "sensorless homing". (Be sure to also set driver_SGT
-#   to an appropriate sensitivity value.) The default is to not enable
-#   sensorless homing. See docs/Sensorless_Homing.md for details on how
-#   to configure this.
+#   The micro-controller pin attached to one of the DIAG lines of the
+#   TMC2130 chip. Only a single diag pin should be specified.
+#   Setting this creates a "tmc2130_stepper_x:virtual_endstop" virtual
+#   pin which may be used as the stepper's endstop_pin. Doing this
+#   enables "sensorless homing". (Be sure to also set driver_SGT to an
+#   appropriate sensitivity value.) The default is to not enable
+#   sensorless homing. See docs/Sensorless_Homing.md for details on
+#   how to configure this.
 
 # Configure a TMC2208 (or TMC2224) stepper motor driver via single
 # wire UART. To use this feature, define a config section with a
@@ -1691,14 +1693,16 @@
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
 #   above list.
+#diag0_pin:
 #diag1_pin:
-#   The micro-controller pin attached to the DIAG1 line of the TMC5160
-#   chip. Setting this creates a "tmc5160_stepper_x:virtual_endstop"
-#   virtual pin which may be used as the stepper's endstop_pin. Doing
-#   this enables "sensorless homing". (Be sure to also set driver_SGT
-#   to an appropriate sensitivity value.) The default is to not enable
-#   sensorless homing. See docs/Sensorless_Homing.md for details on how
-#   to configure this.
+#   The micro-controller pin attached to one of the DIAG lines of the
+#   TMC5160 chip. Only a single diag pin should be specified.
+#   Setting this creates a "tmc5160_stepper_x:virtual_endstop" virtual
+#   pin which may be used as the stepper's endstop_pin. Doing this
+#   enables "sensorless homing". (Be sure to also set driver_SGT to an
+#   appropriate sensitivity value.) The default is to not enable
+#   sensorless homing. See docs/Sensorless_Homing.md for details on
+#   how to configure this.
 
 
 ######################################################################

docs/Sensorless_Homing.md

@@ -59,6 +59,8 @@ homing_retract_dist: 0
 
 The name of the virtual end stop pin is derived from the name of the TMC2130 section. The `homing_retract_dist` setting should be set to zero to disable the second homing move as a second pass is not needed, and attempts to do so are error prone.
 
+The TMC2130 and TMC5160 have both a `diag0_pin` and `diag1_pin` in most known hardware the `diag1_pin` is appropriate. In order for klipper to correctly configure the driver for sensorless homing, the correct configuration property name `diag0_pin` or `diag1_pin` must be used. Which is used is determined by which driver pin is connected to the MCU pin.
+
 ATTENTION: This guide only mentions the mandatory parameters and the ones needed to set up sensorless homing. There are many other options to configure on a TMC2130, make sure to take a look at `config/example-extras.cfg` for all the available options.
 
 ## Testing of SPI/UART communication

klippy/extras/tmc.py

@@ -182,11 +182,20 @@ class TMCCommandHelper:
 
 # Helper class for "sensorless homing"
 class TMCVirtualPinHelper:
-    def __init__(self, config, mcu_tmc, diag_pin):
+    def __init__(self, config, mcu_tmc):
         self.printer = config.get_printer()
         self.mcu_tmc = mcu_tmc
         self.fields = mcu_tmc.get_fields()
-        self.diag_pin = diag_pin
+        if self.fields.lookup_register('diag0_stall') is not None:
+            if config.get('diag0_pin', None) is not None:
+                self.diag_pin = config.get('diag0_pin')
+                self.diag_pin_field = 'diag0_stall'
+            else:
+                self.diag_pin = config.get('diag1_pin', None)
+                self.diag_pin_field = 'diag1_stall'
+        else:
+            self.diag_pin = config.get('diag_pin', None)
+            self.diag_pin_field = None
         self.mcu_endstop = None
         self.en_pwm = False
         self.pwmthrs = 0
@@ -228,7 +237,7 @@ class TMCVirtualPinHelper:
         else:
             # On earlier drivers, "stealthchop" must be disabled
             self.fields.set_field("en_pwm_mode", 0)
-            val = self.fields.set_field("diag1_stall", 1)
+            val = self.fields.set_field(self.diag_pin_field, 1)
         self.mcu_tmc.set_register("GCONF", val)
         self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
     def handle_homing_move_end(self, endstops):
@@ -240,7 +249,7 @@ class TMCVirtualPinHelper:
             val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
         else:
             self.fields.set_field("en_pwm_mode", self.en_pwm)
-            val = self.fields.set_field("diag1_stall", 0)
+            val = self.fields.set_field(self.diag_pin_field, 0)
         self.mcu_tmc.set_register("GCONF", val)
         self.mcu_tmc.set_register("TCOOLTHRS", 0)
 

klippy/extras/tmc2130.py

@@ -210,8 +210,7 @@ class TMC2130:
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
         self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
         # Allow virtual pins to be created
-        diag1_pin = config.get('diag1_pin', None)
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin)
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
         cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
         cmdhelper.setup_register_dump(ReadRegisters)

klippy/extras/tmc2209.py

@@ -60,8 +60,7 @@ class TMC2209:
                                       FieldFormatters)
         self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
         # Allow virtual pins to be created
-        diag_pin = config.get('diag_pin', None)
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag_pin)
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
         cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
         cmdhelper.setup_register_dump(ReadRegisters)

klippy/extras/tmc5160.py

@@ -309,8 +309,7 @@ class TMC5160:
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
         self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
         # Allow virtual pins to be created
-        diag1_pin = config.get('diag1_pin', None)
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin)
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
         cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
         cmdhelper.setup_register_dump(ReadRegisters)