Upload Q1_Pro klipper

klippy/extras/angle.py

@@ -9,7 +9,7 @@ from . import bus, motion_report
 MIN_MSG_TIME = 0.100
 TCODE_ERROR = 0xff
 
-TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", "tmc5160"]
+TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
 
 CALIBRATION_BITS = 6 # 64 entries
 ANGLE_BITS = 16 # angles range from 0..65535

klippy/extras/bed_mesh.py

@@ -305,6 +305,10 @@ class BedMeshCalibrate:
         self.gcode.register_command(
             'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
             desc=self.cmd_BED_MESH_CALIBRATE_help)
+        self.gcode.register_command(
+            'ADD_Z_OFFSET_TO_BED_MESH',
+            self.cmd_ADD_Z_OFFSET_TO_BED_MESH,
+            desc=self.cmd_ADD_Z_OFFSET_TO_BED_MESH_help)
     def _generate_points(self, error):
         x_cnt = self.mesh_config['x_count']
         y_cnt = self.mesh_config['y_count']
@@ -604,6 +608,19 @@ class BedMeshCalibrate:
         self.bedmesh.set_mesh(None)
         self.update_config(gcmd)
         self.probe_helper.start_probe(gcmd)
+
+    cmd_ADD_Z_OFFSET_TO_BED_MESH_help = "Add Z Offset To Current Bed Mesh"
+
+    def cmd_ADD_Z_OFFSET_TO_BED_MESH(self, gcmd):
+        zOffset = gcmd.get_float('ZOFFSET', 0)
+        bed_mesh_pmgr = self.bedmesh.pmgr
+        matrix = self.bedmesh.get_mesh().get_probed_matrix()
+        for row in range(len(matrix)):
+            for col in range(len(matrix[row])):
+                matrix[row][col] += zOffset
+        self.bedmesh.get_mesh().build_mesh(matrix)
+        bed_mesh_pmgr.save_profile(bed_mesh_pmgr.current_profile)
+    
     def probe_finalize(self, offsets, positions):
         x_offset, y_offset, z_offset = offsets
         positions = [[round(p[0], 2), round(p[1], 2), p[2]]
@@ -1135,6 +1152,7 @@ class ProfileManager:
         self.gcode.register_command(
             'BED_MESH_PROFILE', self.cmd_BED_MESH_PROFILE,
             desc=self.cmd_BED_MESH_PROFILE_help)
+
     def initialize(self):
         self._check_incompatible_profiles()
         if "default" in self.profiles:

klippy/extras/chamber_fan.py

@@ -0,0 +1,52 @@
+from . import fan
+
+PIN_MIN_TIME = 0.100
+
+class ChamberFan:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.printer.register_event_handler("klippy:ready", self.handle_ready)
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+        self.printer.load_object(config, 'heaters')
+        self.heaters = []
+        self.fan = fan.Fan(config)
+        self.fan_speed = config.getfloat('fan_speed', default=1.,
+                                         minval=0., maxval=1.)
+        self.idle_speed = config.getfloat(
+            'idle_speed', default=self.fan_speed, minval=0., maxval=1.)
+        self.idle_timeout = config.getint("idle_timeout", default=30, minval=0)
+        self.heater_names = config.getlist("heater", ())
+        self.last_on = self.idle_timeout
+        self.last_speed = 0.
+    def handle_connect(self):
+        # Heater lookup
+        pheaters = self.printer.lookup_object('heaters')
+        self.heaters = [pheaters.lookup_heater(n) for n in self.heater_names]
+    def handle_ready(self):
+        reactor = self.printer.get_reactor()
+        reactor.register_timer(self.callback, reactor.monotonic()+PIN_MIN_TIME)
+    def get_status(self, eventtime):
+        return self.fan.get_status(eventtime)
+    def callback(self, eventtime):
+        speed = 0.
+        active = False
+        for heater in self.heaters:
+            _, target_temp = heater.get_temp(eventtime)
+            if target_temp:
+                active = True
+        if active:
+            self.last_on = 0
+            speed = self.fan_speed
+        elif self.last_on < self.idle_timeout:
+            speed = self.idle_speed
+            self.last_on += 1
+        if speed != self.last_speed:
+            self.last_speed = speed
+            curtime = self.printer.get_reactor().monotonic()
+            print_time = self.fan.get_mcu().estimated_print_time(curtime)
+            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
+        return eventtime + 1.
+
+def load_config_prefix(config):
+    return ChamberFan(config)

klippy/extras/endstop_phase.py

@@ -6,7 +6,7 @@
 import math, logging
 import stepper
 
-TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", "tmc5160"]
+TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
 
 # Calculate the trigger phase of a stepper motor
 class PhaseCalc:

klippy/extras/force_move.py

@@ -32,6 +32,7 @@ class ForceMove:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.steppers = {}
+        self._enable = config.getboolean("enable_force_move", False)
         # Setup iterative solver
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -44,8 +45,8 @@ class ForceMove:
         gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
                                desc=self.cmd_STEPPER_BUZZ_help)
         gcode.register_command('SET_KINEMATIC_POSITION',
-                                   self.cmd_SET_KINEMATIC_POSITION,
-                                   desc=self.cmd_SET_KINEMATIC_POSITION_help)
+                                self.cmd_SET_KINEMATIC_POSITION,
+                                desc=self.cmd_SET_KINEMATIC_POSITION_help)
         if config.getboolean("enable_force_move", False):
             gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
                                    desc=self.cmd_FORCE_MOVE_help)
@@ -113,16 +114,18 @@ class ForceMove:
         self._restore_enable(stepper, was_enable)
     cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
     def cmd_FORCE_MOVE(self, gcmd):
-        stepper = self._lookup_stepper(gcmd)
-        distance = gcmd.get_float('DISTANCE')
-        speed = gcmd.get_float('VELOCITY', above=0.)
-        accel = gcmd.get_float('ACCEL', 0., minval=0.)
-        logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
-                     stepper.get_name(), distance, speed, accel)
-        self._force_enable(stepper)
-        self.manual_move(stepper, distance, speed, accel)
+        if self._enable:
+            stepper = self._lookup_stepper(gcmd)
+            distance = gcmd.get_float('DISTANCE')
+            speed = gcmd.get_float('VELOCITY', above=0.)
+            accel = gcmd.get_float('ACCEL', 0., minval=0.)
+            logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
+                        stepper.get_name(), distance, speed, accel)
+            self._force_enable(stepper)
+            self.manual_move(stepper, distance, speed, accel)
     cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
     def cmd_SET_KINEMATIC_POSITION(self, gcmd):
+#        if self._enable:
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.get_last_move_time()
         curpos = toolhead.get_position()
@@ -131,7 +134,6 @@ class ForceMove:
         z = gcmd.get_float('Z', curpos[2])
         logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
         toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
-    
 
 def load_config(config):
     return ForceMove(config)

klippy/extras/gcode_macro_break.py

@@ -0,0 +1,15 @@
+class GCodeMacroBreaker:
+    def __init__(self, config):
+        # Gcode macro interupt
+        self.printer = config.get_printer()
+        webhooks = self.printer.lookup_object('webhooks')
+        webhooks.register_endpoint("breakmacro", self._handle_breakmacro)
+        webhooks.register_endpoint("resumemacro", self._handle_resumemacro)
+        self.gcode = self.printer.lookup_object('gcode')
+    def _handle_breakmacro(self, web_request):
+        self.gcode.break_flag = True
+    def _handle_resumemacro(self, web_request):
+        self.gcode.break_flag = False
+
+def load_config(config):
+    return GCodeMacroBreaker(config)

klippy/extras/gcode_shell_command.py

@@ -0,0 +1,87 @@
+# Run a shell command via gcode
+#
+# Copyright (C) 2019  Eric Callahan <arksine.code@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import os
+import shlex
+import subprocess
+import logging
+
+class ShellCommand:
+    def __init__(self, config):
+        self.name = config.get_name().split()[-1]
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+        cmd = config.get('command')
+        cmd = os.path.expanduser(cmd)
+        self.command = shlex.split(cmd)
+        self.timeout = config.getfloat('timeout', 2., above=0.)
+        self.verbose = config.getboolean('verbose', True)
+        self.proc_fd = None
+        self.partial_output = ""
+        self.gcode.register_mux_command(
+            "RUN_SHELL_COMMAND", "CMD", self.name,
+            self.cmd_RUN_SHELL_COMMAND,
+            desc=self.cmd_RUN_SHELL_COMMAND_help)
+
+    def _process_output(self, eventime):
+        if self.proc_fd is None:
+            return
+        try:
+            data = os.read(self.proc_fd, 4096)
+        except Exception:
+            pass
+        data = self.partial_output + data.decode()
+        if '\n' not in data:
+            self.partial_output = data
+            return
+        elif data[-1] != '\n':
+            split = data.rfind('\n') + 1
+            self.partial_output = data[split:]
+            data = data[:split]
+        else:
+            self.partial_output = ""
+        self.gcode.respond_info(data)
+
+    cmd_RUN_SHELL_COMMAND_help = "Run a linux shell command"
+    def cmd_RUN_SHELL_COMMAND(self, params):
+        gcode_params = params.get('PARAMS','')
+        gcode_params = shlex.split(gcode_params)
+        reactor = self.printer.get_reactor()
+        try:
+            proc = subprocess.Popen(
+                self.command + gcode_params, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+        except Exception:
+            logging.exception(
+                "shell_command: Command {%s} failed" % (self.name))
+            raise self.gcode.error("Error running command {%s}" % (self.name))
+        if self.verbose:
+            self.proc_fd = proc.stdout.fileno()
+            self.gcode.respond_info("Running Command {%s}...:" % (self.name))
+            hdl = reactor.register_fd(self.proc_fd, self._process_output)
+        eventtime = reactor.monotonic()
+        endtime = eventtime + self.timeout
+        complete = False
+        while eventtime < endtime:
+            eventtime = reactor.pause(eventtime + .05)
+            if proc.poll() is not None:
+                complete = True
+                break
+        if not complete:
+            proc.terminate()
+        if self.verbose:
+            if self.partial_output:
+                self.gcode.respond_info(self.partial_output)
+                self.partial_output = ""
+            if complete:
+                msg = "Command {%s} finished\n" % (self.name)
+            else:
+                msg = "Command {%s} timed out" % (self.name)
+            self.gcode.respond_info(msg)
+            reactor.unregister_fd(hdl)
+            self.proc_fd = None
+
+
+def load_config_prefix(config):
+    return ShellCommand(config)

klippy/extras/hall_filament_width_sensor.py

@@ -146,11 +146,11 @@ class HallFilamentWidthSensor:
                     and (self.filament_width >= self.min_diameter)):
                     percentage = round(self.nominal_filament_dia**2
                                        / self.filament_width**2 * 100)
-                    self.gcode.run_script("M221 S" + str(percentage))
-                else:
-                    self.gcode.run_script("M221 S100")
+                    # self.gcode.run_script("M221 S" + str(percentage))
+                # else:
+                    # self.gcode.run_script("M221 S100")
         else:
-            self.gcode.run_script("M221 S100")
+            # self.gcode.run_script("M221 S100")
             self.filament_array = []
 
         if self.is_active:
@@ -171,7 +171,7 @@ class HallFilamentWidthSensor:
         self.filament_array = []
         gcmd.respond_info("Filament width measurements cleared!")
         # Set extrude multiplier to 100%
-        self.gcode.run_script_from_command("M221 S100")
+        # self.gcode.run_script_from_command("M221 S100")
 
     def cmd_M405(self, gcmd):
         response = "Filament width sensor Turned On"
@@ -196,7 +196,7 @@ class HallFilamentWidthSensor:
             # Clear filament array
             self.filament_array = []
             # Set extrude multiplier to 100%
-            self.gcode.run_script_from_command("M221 S100")
+            # self.gcode.run_script_from_command("M221 S100")
         gcmd.respond_info(response)
 
     def cmd_Get_Raw_Values(self, gcmd):

klippy/extras/heaters.py

@@ -241,6 +241,16 @@ class PrinterHeaters:
         gcode.register_command("M105", self.cmd_M105, when_not_ready=True)
         gcode.register_command("TEMPERATURE_WAIT", self.cmd_TEMPERATURE_WAIT,
                                desc=self.cmd_TEMPERATURE_WAIT_help)
+        # Wait heater interupt
+        webhooks = self.printer.lookup_object('webhooks')
+        webhooks.register_endpoint("breakheater", self._handle_breakheater)
+        self.break_flag=False
+    def _handle_breakheater(self,web_request):
+        reactor = self.printer.get_reactor()
+        for heater in self.heaters.values():
+            eventtime = reactor.monotonic()
+            if heater.check_busy(eventtime):
+                self.break_flag = True
     def load_config(self, config):
         self.have_load_sensors = True
         # Load default temperature sensors
@@ -330,7 +340,11 @@ class PrinterHeaters:
         gcode = self.printer.lookup_object("gcode")
         reactor = self.printer.get_reactor()
         eventtime = reactor.monotonic()
+        self.break_flag = False
         while not self.printer.is_shutdown() and heater.check_busy(eventtime):
+            if self.break_flag:
+                self.break_flag = False
+                break
             print_time = toolhead.get_last_move_time()
             gcode.respond_raw(self._get_temp(eventtime))
             eventtime = reactor.pause(eventtime + 1.)
@@ -359,7 +373,7 @@ class PrinterHeaters:
         toolhead = self.printer.lookup_object("toolhead")
         reactor = self.printer.get_reactor()
         eventtime = reactor.monotonic()
-        while not self.printer.is_shutdown():
+        while not self.printer.is_shutdown() and not self.break_flag:
             temp, target = sensor.get_temp(eventtime)
             if temp >= min_temp and temp <= max_temp:
                 return

klippy/extras/homing.py

@@ -228,6 +228,10 @@ class PrinterHoming:
         # Register g-code commands
         gcode = self.printer.lookup_object('gcode')
         gcode.register_command('G28', self.cmd_G28)
+        # 2023/12/14
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.vibrate_gcode = gcode_macro.load_template(
+             config.getsection('bed_mesh'), 'vibrate_gcode', '')
     def manual_home(self, toolhead, endstops, pos, speed,
                     triggered, check_triggered):
         hmove = HomingMove(self.printer, endstops, toolhead)
@@ -250,8 +254,14 @@ class PrinterHoming:
                     "Probing failed due to printer shutdown")
             raise
         if hmove.check_no_movement() is not None:
-            raise self.printer.command_error(
-                "Probe triggered prior to movement")
+            # 2023/12/14 Chengwei
+            # error to info
+            gcode = self.printer.lookup_object('gcode')
+            gcode.respond_info('Probe triggered prior to movement')
+            ######
+            # raise self.printer.command_error(
+            #     "Probe triggered prior to movement")
+            ######
         return epos
     def cmd_G28(self, gcmd):
         # Move to origin

klippy/extras/manual_probe.py

@@ -24,19 +24,9 @@ class ManualProbe:
                 'Z_OFFSET_APPLY_ENDSTOP',
                 self.cmd_Z_OFFSET_APPLY_ENDSTOP,
                 desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
-        self.reset_status()
     def manual_probe_finalize(self, kin_pos):
         if kin_pos is not None:
             self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
-    def reset_status(self):
-        self.status = {
-            'is_active': False,
-            'z_position': None,
-            'z_position_lower': None,
-            'z_position_upper': None
-        }
-    def get_status(self, eventtime):
-        return self.status
     cmd_MANUAL_PROBE_help = "Start manual probe helper script"
     def cmd_MANUAL_PROBE(self, gcmd):
         ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize)
@@ -88,7 +78,6 @@ class ManualProbeHelper:
         self.finalize_callback = finalize_callback
         self.gcode = self.printer.lookup_object('gcode')
         self.toolhead = self.printer.lookup_object('toolhead')
-        self.manual_probe = self.printer.lookup_object('manual_probe')
         self.speed = gcmd.get_float("SPEED", 5.)
         self.past_positions = []
         self.last_toolhead_pos = self.last_kinematics_pos = None
@@ -141,20 +130,11 @@ class ManualProbeHelper:
         prev_pos = next_pos - 1
         if next_pos < len(pp) and pp[next_pos] == z_pos:
             next_pos += 1
-        prev_pos_val = next_pos_val = None
         prev_str = next_str = "??????"
         if prev_pos >= 0:
-            prev_pos_val = pp[prev_pos]
-            prev_str = "%.3f" % (prev_pos_val,)
+            prev_str = "%.3f" % (pp[prev_pos],)
         if next_pos < len(pp):
-            next_pos_val = pp[next_pos]
-            next_str = "%.3f" % (next_pos_val,)
-        self.manual_probe.status = {
-            'is_active': True,
-            'z_position': z_pos,
-            'z_position_lower': prev_pos_val,
-            'z_position_upper': next_pos_val,
-        }
+            next_str = "%.3f" % (pp[next_pos],)
         # Find recent positions
         self.gcode.respond_info("Z position: %s --> %.3f <-- %s"
                                 % (prev_str, z_pos, next_str))
@@ -203,7 +183,6 @@ class ManualProbeHelper:
         self.move_z(next_z_pos)
         self.report_z_status(next_z_pos != z_pos, z_pos)
     def finalize(self, success):
-        self.manual_probe.reset_status()
         self.gcode.register_command('ACCEPT', None)
         self.gcode.register_command('NEXT', None)
         self.gcode.register_command('ABORT', None)

klippy/extras/print_stats.py

@@ -1,93 +1,120 @@
-# Virtual SDCard print stat tracking
-#
-# Copyright (C) 2020  Eric Callahan <arksine.code@gmail.com>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-
-class PrintStats:
-    def __init__(self, config):
-        printer = config.get_printer()
-        self.gcode_move = printer.load_object(config, 'gcode_move')
-        self.reactor = printer.get_reactor()
-        self.reset()
-    def _update_filament_usage(self, eventtime):
-        gc_status = self.gcode_move.get_status(eventtime)
-        cur_epos = gc_status['position'].e
-        self.filament_used += (cur_epos - self.last_epos) \
-            / gc_status['extrude_factor']
-        self.last_epos = cur_epos
-    def set_current_file(self, filename):
-        self.reset()
-        self.filename = filename
-    def note_start(self):
-        curtime = self.reactor.monotonic()
-        if self.print_start_time is None:
-            self.print_start_time = curtime
-        elif self.last_pause_time is not None:
-            # Update pause time duration
-            pause_duration = curtime - self.last_pause_time
-            self.prev_pause_duration += pause_duration
-            self.last_pause_time = None
-        # Reset last e-position
-        gc_status = self.gcode_move.get_status(curtime)
-        self.last_epos = gc_status['position'].e
-        self.state = "printing"
-        self.error_message = ""
-    def note_pause(self):
-        if self.last_pause_time is None:
-            curtime = self.reactor.monotonic()
-            self.last_pause_time = curtime
-            # update filament usage
-            self._update_filament_usage(curtime)
-        if self.state != "error":
-            self.state = "paused"
-    def note_complete(self):
-        self._note_finish("complete")
-    def note_error(self, message):
-        self._note_finish("error", message)
-    def note_cancel(self):
-        self._note_finish("cancelled")
-    def _note_finish(self, state, error_message = ""):
-        if self.print_start_time is None:
-            return
-        self.state = state
-        self.error_message = error_message
-        eventtime = self.reactor.monotonic()
-        self.total_duration = eventtime - self.print_start_time
-        if self.filament_used < 0.0000001:
-            # No positive extusion detected during print
-            self.init_duration = self.total_duration - \
-                self.prev_pause_duration
-        self.print_start_time = None
-    def reset(self):
-        self.filename = self.error_message = ""
-        self.state = "standby"
-        self.prev_pause_duration = self.last_epos = 0.
-        self.filament_used = self.total_duration = 0.
-        self.print_start_time = self.last_pause_time = None
-        self.init_duration = 0.
-    def get_status(self, eventtime):
-        time_paused = self.prev_pause_duration
-        if self.print_start_time is not None:
-            if self.last_pause_time is not None:
-                # Calculate the total time spent paused during the print
-                time_paused += eventtime - self.last_pause_time
-            else:
-                # Accumulate filament if not paused
-                self._update_filament_usage(eventtime)
-            self.total_duration = eventtime - self.print_start_time
-            if self.filament_used < 0.0000001:
-                # Track duration prior to extrusion
-                self.init_duration = self.total_duration - time_paused
-        print_duration = self.total_duration - self.init_duration - time_paused
-        return {
-            'filename': self.filename,
-            'total_duration': self.total_duration,
-            'print_duration': print_duration,
-            'filament_used': self.filament_used,
-            'state': self.state,
-            'message': self.error_message
-        }
-
-def load_config(config):
-    return PrintStats(config)
+# Virtual SDCard print stat tracking
+#
+# Copyright (C) 2020  Eric Callahan <arksine.code@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class PrintStats:
+    def __init__(self, config):
+        printer = config.get_printer()
+        self.gcode_move = printer.load_object(config, 'gcode_move')
+        self.reactor = printer.get_reactor()
+        self.reset()
+        # Register commands
+        self.gcode = printer.lookup_object('gcode')
+        self.gcode.register_command(
+            "SET_PRINT_STATS_INFO", self.cmd_SET_PRINT_STATS_INFO,
+            desc=self.cmd_SET_PRINT_STATS_INFO_help)
+    def _update_filament_usage(self, eventtime):
+        gc_status = self.gcode_move.get_status(eventtime)
+        cur_epos = gc_status['position'].e
+        self.filament_used += (cur_epos - self.last_epos) \
+            / gc_status['extrude_factor']
+        self.last_epos = cur_epos
+    def set_current_file(self, filename):
+        self.reset()
+        self.filename = filename
+    def note_start(self):
+        curtime = self.reactor.monotonic()
+        if self.print_start_time is None:
+            self.print_start_time = curtime
+        elif self.last_pause_time is not None:
+            # Update pause time duration
+            pause_duration = curtime - self.last_pause_time
+            self.prev_pause_duration += pause_duration
+            self.last_pause_time = None
+        # Reset last e-position
+        gc_status = self.gcode_move.get_status(curtime)
+        self.last_epos = gc_status['position'].e
+        self.state = "printing"
+        self.error_message = ""
+    def note_pause(self):
+        if self.last_pause_time is None:
+            curtime = self.reactor.monotonic()
+            self.last_pause_time = curtime
+            # update filament usage
+            self._update_filament_usage(curtime)
+        if self.state != "error":
+            self.state = "paused"
+    def note_complete(self):
+        self._note_finish("complete")
+    def note_error(self, message):
+        self._note_finish("error", message)
+    def note_cancel(self):
+        self._note_finish("cancelled")
+    def _note_finish(self, state, error_message = ""):
+        if self.print_start_time is None:
+            return
+        self.state = state
+        self.error_message = error_message
+        eventtime = self.reactor.monotonic()
+        self.total_duration = eventtime - self.print_start_time
+        if self.filament_used < 0.0000001:
+            # No positive extusion detected during print
+            self.init_duration = self.total_duration - \
+                self.prev_pause_duration
+        self.print_start_time = None
+    cmd_SET_PRINT_STATS_INFO_help = "Pass slicer info like layer act and " \
+                                    "total to klipper"
+    def cmd_SET_PRINT_STATS_INFO(self, gcmd):
+        total_layer = gcmd.get_int("TOTAL_LAYER", self.info_total_layer, \
+                                   minval=0)
+        current_layer = gcmd.get_int("CURRENT_LAYER", self.info_current_layer, \
+                                     minval=0)
+        if total_layer == 0:
+            self.info_total_layer = None
+            self.info_current_layer = None
+        elif total_layer != self.info_total_layer:
+            self.info_total_layer = total_layer
+            self.info_current_layer = 0
+
+        if self.info_total_layer is not None and \
+                current_layer is not None and \
+                current_layer != self.info_current_layer:
+            self.info_current_layer = min(current_layer, self.info_total_layer)
+    def reset(self):
+        self.filename = self.error_message = ""
+        self.state = "standby"
+        self.prev_pause_duration = self.last_epos = 0.
+        self.filament_used = self.total_duration = 0.
+        self.print_start_time = self.last_pause_time = None
+        self.init_duration = 0.
+        self.info_total_layer = None
+        self.info_current_layer = None
+    def get_status(self, eventtime):
+        time_paused = self.prev_pause_duration
+        if self.print_start_time is not None:
+            if self.last_pause_time is not None:
+                # Calculate the total time spent paused during the print
+                time_paused += eventtime - self.last_pause_time
+            else:
+                # Accumulate filament if not paused
+                self._update_filament_usage(eventtime)
+            self.total_duration = eventtime - self.print_start_time
+            if self.filament_used < 0.0000001:
+                # Track duration prior to extrusion
+                self.init_duration = self.total_duration - time_paused
+        print_duration = self.total_duration - self.init_duration - time_paused
+        return {
+            'filename': self.filename,
+            'total_duration': self.total_duration,
+            'print_duration': print_duration,
+            'filament_used': self.filament_used,
+            'state': self.state,
+            'message': self.error_message,
+            'info': {'total_layer': self.info_total_layer,
+                     'current_layer': self.info_current_layer}
+        }
+
+def load_config(config):
+    return PrintStats(config)

klippy/extras/probe.py

@@ -12,12 +12,14 @@ If the probe did not move far enough to trigger, then
 consider reducing the Z axis minimum position so the probe
 can travel further (the Z minimum position can be negative).
 """
+_NERVER = 9999999
 
 class PrinterProbe:
     def __init__(self, config, mcu_probe):
         self.printer = config.get_printer()
         self.name = config.get_name()
         self.mcu_probe = mcu_probe
+        self.config = config
         self.speed = config.getfloat('speed', 5.0, above=0.)
         self.lift_speed = config.getfloat('lift_speed', self.speed, above=0.)
         self.x_offset = config.getfloat('x_offset', 0.)
@@ -28,6 +30,12 @@ class PrinterProbe:
         self.last_state = False
         self.last_z_result = 0.
         self.gcode_move = self.printer.load_object(config, "gcode_move")
+        # vibrate after retry failed 
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.vibrate_gcode = gcode_macro.load_template(
+             config.getsection('bed_mesh'), 'vibrate_gcode', '')
+        self.probe_count = 0
+        self.vibrate = config.getsection('bed_mesh').getint('vibrate', _NERVER)
         # Infer Z position to move to during a probe
         if config.has_section('stepper_z'):
             zconfig = config.getsection('stepper_z')
@@ -74,6 +82,8 @@ class PrinterProbe:
         self.gcode.register_command('Z_OFFSET_APPLY_PROBE',
                                     self.cmd_Z_OFFSET_APPLY_PROBE,
                                     desc=self.cmd_Z_OFFSET_APPLY_PROBE_help)
+        self.gcode.register_command('MKS_SHOW_Z_OFFSET', self.cmd_MKS_SHOW_Z_OFFSET,
+                                    desc=self.cmd_MKS_SHOW_Z_OFFSET_help)
     def _handle_homing_move_begin(self, hmove):
         if self.mcu_probe in hmove.get_mcu_endstops():
             self.mcu_probe.probe_prepare(hmove)
@@ -169,6 +179,8 @@ class PrinterProbe:
         probexy = self.printer.lookup_object('toolhead').get_position()[:2]
         retries = 0
         positions = []
+        gcode = self.gcode
+        last_probe_failed = False
         while len(positions) < sample_count:
             # Probe position
             pos = self._probe(speed)
@@ -179,11 +191,27 @@ class PrinterProbe:
                 if retries >= samples_retries:
                     raise gcmd.error("Probe samples exceed samples_tolerance")
                 gcmd.respond_info("Probe samples exceed tolerance. Retrying...")
+                last_probe_failed = True
                 retries += 1
                 positions = []
+                self.probe_count += 1
             # Retract
             if len(positions) < sample_count:
-                self._move(probexy + [pos[2] + sample_retract_dist], lift_speed)
+                if last_probe_failed:
+                    self._move(probexy + [sample_retract_dist * 2], lift_speed)
+                    if self.probe_count != 0 and self.probe_count % self.vibrate == 0:
+                        gcode.respond_info('Probe ' + str(self.probe_count) + " times, start vibrating")
+                        commands = [
+                            'G91',
+                            'G1 Z20 F300',
+                            'G90',
+                            'G1 Z10 F300'
+                        ]
+                        gcode._process_commands(commands, False)
+                        self.vibrate_gcode.run_gcode_from_command()
+                    last_probe_failed = False
+                else:
+                    self._move(probexy + [pos[2] + sample_retract_dist], lift_speed)
         if must_notify_multi_probe:
             self.multi_probe_end()
         # Calculate and return result
@@ -274,8 +302,7 @@ class PrinterProbe:
         # Move the nozzle over the probe point
         curpos[0] += self.x_offset
         curpos[1] += self.y_offset
-        #PwAddNew
-        self._move(curpos,80.)
+        self._move(curpos, self.speed)
         # Start manual probe
         manual_probe.ManualProbeHelper(self.printer, gcmd,
                                        self.probe_calibrate_finalize)
@@ -293,6 +320,14 @@ class PrinterProbe:
                 % (self.name, new_calibrate))
             configfile.set(self.name, 'z_offset', "%.3f" % (new_calibrate,))
     cmd_Z_OFFSET_APPLY_PROBE_help = "Adjust the probe's z_offset"
+    def cmd_MKS_SHOW_Z_OFFSET(self, gcmd):
+        offset = self.gcode_move.get_status()['homing_origin'].z
+        if offset == 0:
+            self.gcode.respond_info("Nothing to do: Z Offset is 0")
+        else:
+            new_calibrate = self.z_offset - offset
+            self.gcode.respond_info(" %s: z_offset: %.3f\n" % (self.name, new_calibrate))
+    cmd_MKS_SHOW_Z_OFFSET_help = "Show the probe's z_offset"
 
 # Endstop wrapper that enables probe specific features
 class ProbeEndstopWrapper:
@@ -382,6 +417,11 @@ class ProbePointsHelper:
         self.lift_speed = self.speed
         self.probe_offsets = (0., 0., 0.)
         self.results = []
+        # vibrate 
+        self.vibrate = config.getint('vibrate', 9999999)
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.vibrate_gcode = gcode_macro.load_template(
+            config, 'vibrate_gcode', '')
     def minimum_points(self,n):
         if len(self.probe_points) < n:
             raise self.printer.config_error(
@@ -434,11 +474,23 @@ class ProbePointsHelper:
             raise gcmd.error("horizontal_move_z can't be less than"
                              " probe's z_offset")
         probe.multi_probe_begin()
+        probe.probe_count = 0
         while 1:
             done = self._move_next()
             if done:
                 break
+            if self.gcode.break_flag:
+                break
             pos = probe.run_probe(gcmd)
+            probe.probe_count += 1
+            gcode = self.printer.lookup_object('gcode')
+            if self.vibrate and probe.probe_count % self.vibrate == 0:
+                commands = [
+                    'G90',
+                    'G1 Z'+ str(self.horizontal_move_z) + ' F300'
+                ]
+                gcode._process_commands(commands, False)
+                self.vibrate_gcode.run_gcode_from_command()
             self.results.append(pos)
         probe.multi_probe_end()
     def _manual_probe_start(self):

klippy/extras/qdprobe.py

@@ -0,0 +1,136 @@
+# -*- coding: utf-8 -*-
+
+import logging
+from . import smart_effector
+from . import probe
+
+# Makerbase Endstop wrapper 
+class MakerbaseProbeEndstopWrapper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.position_endstop = config.getfloat('z_offset')
+        self.stow_on_each_sample = config.getboolean(
+            'deactivate_on_each_sample', True)
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.activate_gcode = gcode_macro.load_template(
+            config, 'activate_gcode', '')
+        self.deactivate_gcode = gcode_macro.load_template(
+            config, 'deactivate_gcode', '')
+        ppins = self.printer.lookup_object('pins')
+        pin = config.get('pin')
+        pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
+        mcu = pin_params['chip']
+        self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
+        self.printer.register_event_handler('klippy:mcu_identify',
+                                            self._handle_mcu_identify)
+        # Wrappers
+        self.get_mcu = self.mcu_endstop.get_mcu
+        self.add_stepper = self.mcu_endstop.add_stepper
+        self.get_steppers = self.mcu_endstop.get_steppers
+        self.home_start = self.mcu_endstop.home_start
+        self.home_wait = self.mcu_endstop.home_wait
+        self.query_endstop = self.mcu_endstop.query_endstop
+        # multi probes state
+        self.multi = 'OFF'
+    def _handle_mcu_identify(self):
+        kin = self.printer.lookup_object('toolhead').get_kinematics()
+        for stepper in kin.get_steppers():
+            if stepper.is_active_axis('z'):
+                self.add_stepper(stepper)
+    def raise_probe(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        start_pos = toolhead.get_position()
+        self.deactivate_gcode.run_gcode_from_command()
+        if toolhead.get_position()[:3] != start_pos[:3]:
+            raise self.printer.command_error(
+                "Toolhead moved during probe activate_gcode script")
+    def lower_probe(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        start_pos = toolhead.get_position()
+        self.activate_gcode.run_gcode_from_command()
+        if toolhead.get_position()[:3] != start_pos[:3]:
+            raise self.printer.command_error(
+                "Toolhead moved during probe deactivate_gcode script")
+    def multi_probe_begin(self):
+        if self.stow_on_each_sample:
+            return
+        self.multi = 'FIRST'
+    def multi_probe_end(self):
+        if self.stow_on_each_sample:
+            return
+        self.raise_probe()
+        self.multi = 'OFF'
+    def probe_prepare(self, hmove):
+        if self.multi == 'OFF' or self.multi == 'FIRST':
+            self.lower_probe()
+            if self.multi == 'FIRST':
+                self.multi = 'ON'
+    def probe_finish(self, hmove):
+        if self.multi == 'OFF':
+            self.raise_probe()
+    def get_position_endstop(self):
+        return self.position_endstop
+
+class MakerBase:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+        # self.speed = config.getfloat('speed', 5.0, above=0.)
+        # self.lift_speed = config.getfloat('lift_speed', self.speed, above=0.)
+        # self.x_offset = config.getfloat('x_offset', 0.)
+        # self.y_offset = config.getfloat('y_offset', 0.)
+        # self.z_offset = config.getfloat('z_offset')
+        self.probe = self.printer.lookup_object('probe')
+        self.endstop_wrapper = probe.ProbeEndstopWrapper(config)
+        # self.probe_accel = config.getfloat('probe_accel', 0., minval=0.)
+        # self.recovery_time = config.getfloat('recovery_time', 0.4, minval=0.)
+        # Register MakerBase commands
+        self.gcode.register_command('MKS_PROBE_PIN_1', self.cmd_MKS_PROBE_PIN_1,
+                                    desc=self.cmd_MKS_PROBE_PIN_1_help)
+        self.gcode.register_command('MKS_PROBE_PIN_2', self.cmd_MKS_PROBE_PIN_2,
+                                    desc=self.cmd_MKS_PROBE_PIN_2_help)
+        self.gcode.register_command('QIDI_PROBE_PIN_1', self.cmd_MKS_PROBE_PIN_1,
+                                    desc=self.cmd_MKS_PROBE_PIN_1_help)
+        self.gcode.register_command('QIDI_PROBE_PIN_2', self.cmd_MKS_PROBE_PIN_2,
+                                    desc=self.cmd_MKS_PROBE_PIN_2_help)
+        self.gcode.register_command('MKS_REMOVE', self.cmd_MKS_REMOVE,
+                                    desc=self.cmd_MKS_REMOVE_help)
+    cmd_MKS_PROBE_PIN_2_help = 'ENABLE_PROBE_PIN_2'
+    def cmd_MKS_PROBE_PIN_2(self, gcmd):
+        self.probe.mcu_probe.probe_wrapper = self.endstop_wrapper
+        # Wrappers
+        self.probe.mcu_probe.get_mcu = self.endstop_wrapper.get_mcu
+        self.probe.mcu_probe.add_stepper = self.endstop_wrapper.add_stepper
+        self.probe.mcu_probe.get_steppers = self.endstop_wrapper.get_steppers
+        self.probe.mcu_probe.home_start = self.endstop_wrapper.home_start
+        self.probe.mcu_probe.home_wait = self.endstop_wrapper.home_wait
+        self.probe.mcu_probe.query_endstop = self.endstop_wrapper.query_endstop
+        self.probe.mcu_probe.multi_probe_begin = self.endstop_wrapper.multi_probe_begin
+        self.probe.mcu_probe.multi_probe_end = self.endstop_wrapper.multi_probe_end
+        # gcmd.respond_raw("%s" % (self.cmd_MKS_PROBE_PIN_2_help, ))
+    cmd_MKS_REMOVE_help = 'MKS_REMOVE'
+    def cmd_MKS_REMOVE(self, gcmd):
+        self.printer.remove_object('probe')
+        self.printer.lookup_object('gcode').remove_command('PROBE')
+        self.printer.lookup_object('gcode').remove_command('QUERY_PROBE')
+        self.printer.lookup_object('gcode').remove_command('PROBE_CALIBRATE')
+        self.printer.lookup_object('gcode').remove_command('PROBE_ACCURACY')
+        self.printer.lookup_object('gcode').remove_command('Z_OFFSET_APPLY_PROBE')
+        self.printer.lookup_object('gcode').remove_command('MKS_SHOW_Z_OFFSET')
+        self.printer.lookup_object('pins').remove_chip('probe')
+    cmd_MKS_PROBE_PIN_1_help = 'ENABLE_PROBE_PIN_1'
+    def cmd_MKS_PROBE_PIN_1(self, gcmd):
+        self.probe.mcu_probe.probe_wrapper = self.probe.mcu_probe.probe_wrapper_2
+        # Wrappers
+        self.probe.mcu_probe.get_mcu = self.probe.mcu_probe.probe_wrapper_2.get_mcu
+        self.probe.mcu_probe.add_stepper = self.probe.mcu_probe.probe_wrapper_2.add_stepper
+        self.probe.mcu_probe.get_steppers = self.probe.mcu_probe.probe_wrapper_2.get_steppers
+        self.probe.mcu_probe.home_start = self.probe.mcu_probe.probe_wrapper_2.home_start
+        self.probe.mcu_probe.home_wait = self.probe.mcu_probe.probe_wrapper_2.home_wait
+        self.probe.mcu_probe.query_endstop = self.probe.mcu_probe.probe_wrapper_2.query_endstop
+        self.probe.mcu_probe.multi_probe_begin = self.probe.mcu_probe.probe_wrapper_2.multi_probe_begin
+        self.probe.mcu_probe.multi_probe_end = self.probe.mcu_probe.probe_wrapper_2.multi_probe_end
+        # gcmd.respond_raw("%s" % (self.cmd_MKS_PROBE_PIN_1_help, ))
+
+def load_config(config):
+    return MakerBase(config)

klippy/extras/smart_effector.py

@@ -54,7 +54,7 @@ class SmartEffectorEndstopWrapper:
         self.gcode = self.printer.lookup_object('gcode')
         self.probe_accel = config.getfloat('probe_accel', 0., minval=0.)
         self.recovery_time = config.getfloat('recovery_time', 0.4, minval=0.)
-        self.probe_wrapper = probe.ProbeEndstopWrapper(config)
+        self.probe_wrapper = self.probe_wrapper_2 = probe.ProbeEndstopWrapper(config)
         # Wrappers
         self.get_mcu = self.probe_wrapper.get_mcu
         self.add_stepper = self.probe_wrapper.add_stepper
@@ -78,6 +78,16 @@ class SmartEffectorEndstopWrapper:
         self.gcode.register_command("SET_SMART_EFFECTOR",
                                     self.cmd_SET_SMART_EFFECTOR,
                                     desc=self.cmd_SET_SMART_EFFECTOR_help)
+        self.gcode.register_command("CHANGE_PIN",
+                                    self.cmd_CHANGE_PIN,
+                                    desc=self.cmd_CHANGE_PIN_help)
+
+        self.pin2 = config.get('pin2', None)
+        self.pin2_enable = 0
+        if self.pin2:
+            self.pin2_enable = 1
+
+        
     def probe_prepare(self, hmove):
         toolhead = self.printer.lookup_object('toolhead')
         self.probe_wrapper.probe_prepare(hmove)
@@ -146,6 +156,9 @@ class SmartEffectorEndstopWrapper:
         buf = [131, 131]
         self._send_command(buf)
         gcmd.respond_info('SmartEffector sensitivity was reset')
+    cmd_CHANGE_PIN_help = 'print pin'
+    def cmd_CHANGE_PIN(self, gcmd):
+        pass
 
 def load_config(config):
     smart_effector = SmartEffectorEndstopWrapper(config)

klippy/extras/spi_temperature.py

@@ -216,7 +216,7 @@ class MAX31855(SensorBase):
 ######################################################################
 
 MAX6675_SCALE = 3
-MAX6675_MULT = 0.25 * 0.95
+MAX6675_MULT = 0.25
 
 class MAX6675(SensorBase):
     def __init__(self, config):

klippy/extras/tmc.py

@@ -93,7 +93,7 @@ class TMCErrorCheck:
         self.mcu_tmc = mcu_tmc
         self.fields = mcu_tmc.get_fields()
         self.check_timer = None
-        self.last_drv_status = self.last_status = None
+        self.last_drv_status = self.last_drv_fields = None
         # Setup for GSTAT query
         reg_name = self.fields.lookup_register("drv_err")
         if reg_name is not None:
@@ -109,9 +109,6 @@ class TMCErrorCheck:
             # TMC2130 driver quirks
             self.clear_gstat = False
             cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
-        # elif name_parts[0] == 'tmc2240':
-        #     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"
@@ -125,6 +122,12 @@ class TMCErrorCheck:
                 if f in err_fields:
                     err_mask |= self.fields.all_fields[reg_name][f]
         self.drv_status_reg_info = [0, reg_name, mask, err_mask, cs_actual_mask]
+        # Setup for temperature query
+        self.adc_temp = None
+        self.adc_temp_reg = self.fields.lookup_register("adc_temp")
+        if self.adc_temp_reg is not None:
+            pheaters = self.printer.load_object(config, 'heaters')
+            # pheaters.register_monitor(config)
     def _query_register(self, reg_info, try_clear=False):
         last_value, reg_name, mask, err_mask, cs_actual_mask = reg_info
         cleared_flags = 0
@@ -158,17 +161,28 @@ class TMCErrorCheck:
             if count >= 3:
                 fmt = self.fields.pretty_format(reg_name, val)
                 raise self.printer.command_error("TMC '%s' reports error: %s"
-                                                 % (self.stepper_name, fmt))
+                                                % (self.stepper_name, fmt))
+            if "uv_cp" in fmt:
+                try_clear = True
             if try_clear and val & err_mask:
                 try_clear = False
                 cleared_flags |= val & err_mask
                 self.mcu_tmc.set_register(reg_name, val & err_mask)
         return cleared_flags
+    def _query_temperature(self):
+        try:
+            self.adc_temp = self.mcu_tmc.get_register(self.adc_temp_reg)
+        except self.printer.command_error as e:
+            # Ignore comms error for temperature
+            self.adc_temp = None
+            return
     def _do_periodic_check(self, eventtime):
         try:
             self._query_register(self.drv_status_reg_info)
             if self.gstat_reg_info is not None:
                 self._query_register(self.gstat_reg_info)
+            if self.adc_temp_reg is not None:
+                self._query_temperature()
         except self.printer.command_error as e:
             self.printer.invoke_shutdown(str(e))
             return self.printer.get_reactor().NEVER
@@ -197,14 +211,16 @@ class TMCErrorCheck:
         return False
     def get_status(self, eventtime=None):
         if self.check_timer is None:
-            return {'drv_status': None}
+            return {'drv_status': None, 'temperature': None}
+        temp = None
+        if self.adc_temp is not None:
+            temp = round((self.adc_temp - 2038) / 7.7, 2)
         last_value, reg_name = self.drv_status_reg_info[:2]
         if last_value != self.last_drv_status:
             self.last_drv_status = last_value
             fields = self.fields.get_reg_fields(reg_name, last_value)
-            fields = {n: v for n, v in fields.items() if v}
-            self.last_status = {'drv_status': fields}
-        return self.last_status
+            self.last_drv_fields = {n: v for n, v in fields.items() if v}
+        return {'drv_status': self.last_drv_fields, 'temperature': temp}
 
 
 ######################################################################
@@ -248,7 +264,8 @@ class TMCCommandHelper:
                                    desc=self.cmd_SET_TMC_CURRENT_help)
     def _init_registers(self, print_time=None):
         # Send registers
-        for reg_name, val in self.fields.registers.items():
+        for reg_name in list(self.fields.registers.keys()):
+            val = self.fields.registers[reg_name] # Val may change during loop
             self.mcu_tmc.set_register(reg_name, val, print_time)
     cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
     def cmd_INIT_TMC(self, gcmd):
@@ -261,7 +278,18 @@ class TMCCommandHelper:
         reg_name = self.fields.lookup_register(field_name, None)
         if reg_name is None:
             raise gcmd.error("Unknown field name '%s'" % (field_name,))
-        value = gcmd.get_int('VALUE')
+        value = gcmd.get_int('VALUE', None)
+        velocity = gcmd.get_float('VELOCITY', None, minval=0.)
+        tmc_frequency = self.mcu_tmc.get_tmc_frequency()
+        if tmc_frequency is None and velocity is not None:
+            raise gcmd.error("VELOCITY parameter not supported by this driver")
+        if (value is None) == (velocity is None):
+            raise gcmd.error("Specify either VALUE or VELOCITY")
+        if velocity is not None:
+            step_dist = self.stepper.get_step_dist()
+            mres = self.fields.get_field("mres")
+            value = TMCtstepHelper(step_dist, mres, tmc_frequency,
+                                   velocity)
         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)
@@ -405,17 +433,32 @@ class TMCCommandHelper:
     cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
     def cmd_DUMP_TMC(self, gcmd):
         logging.info("DUMP_TMC %s", self.name)
-        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        gcmd.respond_info("========== Write-only registers ==========")
-        for reg_name, val in self.fields.registers.items():
-            if reg_name not in self.read_registers:
+        reg_name = gcmd.get('REGISTER', None)
+        if reg_name is not None:
+            reg_name = reg_name.upper()
+            val = self.fields.registers.get(reg_name)
+            if (val is not None) and (reg_name not in self.read_registers):
+                # write-only register
+                gcmd.respond_info(self.fields.pretty_format(reg_name, val))
+            elif reg_name in self.read_registers:
+                # readable register
+                val = self.mcu_tmc.get_register(reg_name)
+                if self.read_translate is not None:
+                    reg_name, val = self.read_translate(reg_name, val)
+                gcmd.respond_info(self.fields.pretty_format(reg_name, val))
+            else:
+                raise gcmd.error("Unknown register name '%s'" % (reg_name))
+        else:
+            gcmd.respond_info("========== Write-only registers ==========")
+            for reg_name, val in self.fields.registers.items():
+                if reg_name not in self.read_registers:
+                    gcmd.respond_info(self.fields.pretty_format(reg_name, val))
+            gcmd.respond_info("========== Queried registers ==========")
+            for reg_name in self.read_registers:
+                val = self.mcu_tmc.get_register(reg_name)
+                if self.read_translate is not None:
+                    reg_name, val = self.read_translate(reg_name, val)
                 gcmd.respond_info(self.fields.pretty_format(reg_name, val))
-        gcmd.respond_info("========== Queried registers ==========")
-        for reg_name in self.read_registers:
-            val = self.mcu_tmc.get_register(reg_name)
-            if self.read_translate is not None:
-                reg_name, val = self.read_translate(reg_name, val)
-            gcmd.respond_info(self.fields.pretty_format(reg_name, val))
 
 
 ######################################################################
@@ -440,7 +483,7 @@ class TMCVirtualPinHelper:
             self.diag_pin_field = None
         self.mcu_endstop = None
         self.en_pwm = False
-        self.pwmthrs = 0
+        self.pwmthrs = self.coolthrs = 0
         # Register virtual_endstop pin
         name_parts = config.get_name().split()
         ppins = self.printer.lookup_object("pins")
@@ -455,13 +498,6 @@ class TMCVirtualPinHelper:
         if self.diag_pin is None:
             raise ppins.error("tmc virtual endstop requires diag pin config")
         # Setup for sensorless homing
-        reg = self.fields.lookup_register("en_pwm_mode", None)
-        if reg is None:
-            self.en_pwm = not self.fields.get_field("en_spreadcycle")
-            self.pwmthrs = self.fields.get_field("tpwmthrs")
-        else:
-            self.en_pwm = self.fields.get_field("en_pwm_mode")
-            self.pwmthrs = 0
         self.printer.register_event_handler("homing:homing_move_begin",
                                             self.handle_homing_move_begin)
         self.printer.register_event_handler("homing:homing_move_end",
@@ -471,21 +507,24 @@ class TMCVirtualPinHelper:
     def handle_homing_move_begin(self, hmove):
         if self.mcu_endstop not in hmove.get_mcu_endstops():
             return
+        self.pwmthrs = self.fields.get_field("tpwmthrs")
+        self.coolthrs = self.fields.get_field("tcoolthrs")
         reg = self.fields.lookup_register("en_pwm_mode", None)
         if reg is None:
-            logging.info("##############################")
             # On "stallguard4" drivers, "stealthchop" must be enabled
+            self.en_pwm = not self.fields.get_field("en_spreadcycle")
             tp_val = self.fields.set_field("tpwmthrs", 0)
             self.mcu_tmc.set_register("TPWMTHRS", tp_val)
             val = self.fields.set_field("en_spreadcycle", 0)
         else:
             # On earlier drivers, "stealthchop" must be disabled
-            logging.info("******************************")
+            self.en_pwm = self.fields.get_field("en_pwm_mode")
             self.fields.set_field("en_pwm_mode", 0)
             val = self.fields.set_field(self.diag_pin_field, 1)
         self.mcu_tmc.set_register("GCONF", val)
-        tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
-        self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
+        if self.coolthrs == 0:
+            tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
+            self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
     def handle_homing_move_end(self, hmove):
         if self.mcu_endstop not in hmove.get_mcu_endstops():
             return
@@ -498,7 +537,7 @@ class TMCVirtualPinHelper:
             self.fields.set_field("en_pwm_mode", self.en_pwm)
             val = self.fields.set_field(self.diag_pin_field, 0)
         self.mcu_tmc.set_register("GCONF", val)
-        tc_val = self.fields.set_field("tcoolthrs", 0)
+        tc_val = self.fields.set_field("tcoolthrs", self.coolthrs)
         self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
 
 
@@ -506,10 +545,35 @@ class TMCVirtualPinHelper:
 # Config reading helpers
 ######################################################################
 
+# Helper to initialize the wave table from config or defaults
+def TMCWaveTableHelper(config, mcu_tmc):
+    set_config_field = mcu_tmc.get_fields().set_config_field
+    set_config_field(config, "mslut0", 0xAAAAB554)
+    set_config_field(config, "mslut1", 0x4A9554AA)
+    set_config_field(config, "mslut2", 0x24492929)
+    set_config_field(config, "mslut3", 0x10104222)
+    set_config_field(config, "mslut4", 0xFBFFFFFF)
+    set_config_field(config, "mslut5", 0xB5BB777D)
+    set_config_field(config, "mslut6", 0x49295556)
+    set_config_field(config, "mslut7", 0x00404222)
+    set_config_field(config, "w0", 2)
+    set_config_field(config, "w1", 1)
+    set_config_field(config, "w2", 1)
+    set_config_field(config, "w3", 1)
+    set_config_field(config, "x1", 128)
+    set_config_field(config, "x2", 255)
+    set_config_field(config, "x3", 255)
+    set_config_field(config, "start_sin", 0)
+    set_config_field(config, "start_sin90", 247)
+
 # Helper to configure and query the microstep settings
 def TMCMicrostepHelper(config, mcu_tmc):
     fields = mcu_tmc.get_fields()
     stepper_name = " ".join(config.get_name().split()[1:])
+    if not config.has_section(stepper_name):
+        raise config.error(
+            "Could not find config section '[%s]' required by tmc driver"
+            % (stepper_name,))
     stepper_config = ms_config = config.getsection(stepper_name)
     if (stepper_config.get('microsteps', None, note_valid=False) is None
         and config.get('microsteps', None, note_valid=False) is not None):
@@ -520,41 +584,36 @@ def TMCMicrostepHelper(config, mcu_tmc):
     fields.set_field("mres", mres)
     fields.set_field("intpol", config.getboolean("interpolate", True))
 
-# Helper to configure "stealthchop" mode
+# Helper for calculating TSTEP based values from velocity
+def TMCtstepHelper(step_dist, mres, tmc_freq, velocity):
+    if velocity > 0.:
+        step_dist_256 = step_dist / (1 << mres)
+        threshold = int(tmc_freq * step_dist_256 / velocity + .5)
+        return max(0, min(0xfffff, threshold))
+    else:
+        return 0xfffff
+
+# Helper to configure stealthChop-spreadCycle transition velocity
 def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
     fields = mcu_tmc.get_fields()
     en_pwm_mode = False
-    velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
-    if velocity:
+    velocity = config.getfloat('stealthchop_threshold', None, minval=0.)
+    tpwmthrs = 0xfffff
+
+    if velocity is not None:
+        en_pwm_mode = True
+
         stepper_name = " ".join(config.get_name().split()[1:])
         sconfig = config.getsection(stepper_name)
         rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
         step_dist = rotation_dist / steps_per_rotation
-        step_dist_256 = step_dist / (1 << fields.get_field("mres"))
-        threshold = int(tmc_freq * step_dist_256 / velocity + .5)
-        fields.set_field("tpwmthrs", max(0, min(0xfffff, threshold)))
-        en_pwm_mode = True
+        mres = fields.get_field("mres")
+        tpwmthrs = TMCtstepHelper(step_dist, mres, tmc_freq, velocity)
+    fields.set_field("tpwmthrs", tpwmthrs)
+
     reg = fields.lookup_register("en_pwm_mode", None)
     if reg is not None:
         fields.set_field("en_pwm_mode", en_pwm_mode)
     else:
         # TMC2208 uses en_spreadCycle
         fields.set_field("en_spreadcycle", not en_pwm_mode)
-
-# Helper to configure "stealthchop" mode
-def TMC2240StealthchopHelper(config, mcu_tmc, tmc_freq):
-    fields = mcu_tmc.get_fields()
-    en_pwm_mode = True
-    velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
-    if velocity:
-        stepper_name = " ".join(config.get_name().split()[1:])
-        sconfig = config.getsection(stepper_name)
-        rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
-        step_dist = rotation_dist / steps_per_rotation
-        step_dist_256 = step_dist / (1 << fields.get_field("mres"))
-        threshold = int(tmc_freq * step_dist_256 / velocity + .5)
-        fields.set_field("tpwmthrs", max(0, min(0xfffff, threshold)))
-        en_pwm_mode = False
-    reg = fields.lookup_register("en_pwm_mode", None)
-    if reg is not None:
-        fields.set_field("en_pwm_mode", en_pwm_mode)

klippy/extras/tmc2130.py

@@ -1,287 +1,320 @@
-# TMC2130 configuration
-#
-# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging
-from . import bus, tmc
-
-TMC_FREQUENCY=13200000.
-
-Registers = {
-    "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
-    "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
-    "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
-    "MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
-    "COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
-    "PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
-}
-
-ReadRegisters = [
-    "GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
-    "CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
-]
-
-Fields = {}
-Fields["GCONF"] = {
-    "i_scale_analog": 1<<0, "internal_rsense": 1<<1, "en_pwm_mode": 1<<2,
-    "enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
-    "diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
-    "diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
-    "diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
-    "small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
-    "test_mode": 1<<17
-}
-Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
-Fields["IOIN"] = {
-    "step": 1<<0, "dir": 1<<1, "dcen_cfg4": 1<<2, "dcin_cfg5": 1<<3,
-    "drv_enn_cfg6": 1<<4, "dco": 1<<5, "version": 0xff << 24
-}
-Fields["IHOLD_IRUN"] = {
-    "ihold": 0x1f << 0, "irun": 0x1f << 8, "iholddelay": 0x0f << 16
-}
-Fields["TPOWERDOWN"] = { "tpowerdown": 0xff }
-Fields["TSTEP"] = { "tstep": 0xfffff }
-Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
-Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
-Fields["THIGH"] = { "thigh": 0xfffff }
-Fields["MSCNT"] = { "mscnt": 0x3ff }
-Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
-Fields["CHOPCONF"] = {
-    "toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
-    "disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "tbl": 0x03 << 15,
-    "vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
-    "mres": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
-}
-Fields["COOLCONF"] = {
-    "semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
-    "seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
-}
-Fields["DRV_STATUS"] = {
-    "sg_result": 0x3ff, "fsactive": 1<<15, "cs_actual": 0x1f << 16,
-    "stallguard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
-    "s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
-}
-Fields["PWMCONF"] = {
-    "pwm_ampl": 0xff, "pwm_grad": 0xff << 8, "pwm_freq": 0x03 << 16,
-    "pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
-}
-Fields["PWM_SCALE"] = { "pwm_scale": 0xff }
-Fields["LOST_STEPS"] = { "lost_steps": 0xfffff }
-
-SignedFields = ["cur_a", "cur_b", "sgt"]
-
-FieldFormatters = {
-    "i_scale_analog":   (lambda v: "1(ExtVREF)" if v else ""),
-    "shaft":            (lambda v: "1(Reverse)" if v else ""),
-    "reset":            (lambda v: "1(Reset)" if v else ""),
-    "drv_err":          (lambda v: "1(ErrorShutdown!)" if v else ""),
-    "uv_cp":            (lambda v: "1(Undervoltage!)" if v else ""),
-    "version":          (lambda v: "%#x" % v),
-    "mres":             (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
-    "otpw":             (lambda v: "1(OvertempWarning!)" if v else ""),
-    "ot":               (lambda v: "1(OvertempError!)" if v else ""),
-    "s2ga":             (lambda v: "1(ShortToGND_A!)" if v else ""),
-    "s2gb":             (lambda v: "1(ShortToGND_B!)" if v else ""),
-    "ola":              (lambda v: "1(OpenLoad_A!)" if v else ""),
-    "olb":              (lambda v: "1(OpenLoad_B!)" if v else ""),
-    "cs_actual":        (lambda v: ("%d" % v) if v else "0(Reset?)"),
-}
-
-
-######################################################################
-# TMC stepper current config helper
-######################################################################
-
-MAX_CURRENT = 2.000
-
-class TMCCurrentHelper:
-    def __init__(self, config, mcu_tmc):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.mcu_tmc = mcu_tmc
-        self.fields = mcu_tmc.get_fields()
-        run_current = config.getfloat('run_current',
-                                      above=0., maxval=MAX_CURRENT)
-        hold_current = config.getfloat('hold_current', MAX_CURRENT,
-                                       above=0., maxval=MAX_CURRENT)
-        self.req_hold_current = hold_current
-        self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
-        vsense, irun, ihold = self._calc_current(run_current, hold_current)
-        self.fields.set_field("vsense", vsense)
-        self.fields.set_field("ihold", ihold)
-        self.fields.set_field("irun", irun)
-    def _calc_current_bits(self, current, vsense):
-        sense_resistor = self.sense_resistor + 0.020
-        vref = 0.32
-        if vsense:
-            vref = 0.18
-        cs = int(32. * sense_resistor * current * math.sqrt(2.) / vref + .5) - 1
-        return max(0, min(31, cs))
-    def _calc_current_from_bits(self, cs, vsense):
-        sense_resistor = self.sense_resistor + 0.020
-        vref = 0.32
-        if vsense:
-            vref = 0.18
-        return (cs + 1) * vref / (32. * sense_resistor * math.sqrt(2.))
-    def _calc_current(self, run_current, hold_current):
-        vsense = True
-        irun = self._calc_current_bits(run_current, True)
-        if irun == 31:
-            cur = self._calc_current_from_bits(irun, True)
-            if cur < run_current:
-                irun2 = self._calc_current_bits(run_current, False)
-                cur2 = self._calc_current_from_bits(irun2, False)
-                if abs(run_current - cur2) < abs(run_current - cur):
-                    vsense = False
-                    irun = irun2
-        ihold = self._calc_current_bits(min(hold_current, run_current), vsense)
-        return vsense, irun, ihold
-    def get_current(self):
-        irun = self.fields.get_field("irun")
-        ihold = self.fields.get_field("ihold")
-        vsense = self.fields.get_field("vsense")
-        run_current = self._calc_current_from_bits(irun, vsense)
-        hold_current = self._calc_current_from_bits(ihold, vsense)
-        return run_current, hold_current, self.req_hold_current, MAX_CURRENT
-    def set_current(self, run_current, hold_current, print_time):
-        self.req_hold_current = hold_current
-        vsense, irun, ihold = self._calc_current(run_current, hold_current)
-        if vsense != self.fields.get_field("vsense"):
-            val = self.fields.set_field("vsense", vsense)
-            self.mcu_tmc.set_register("CHOPCONF", val, print_time)
-        self.fields.set_field("ihold", ihold)
-        val = self.fields.set_field("irun", irun)
-        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
-
-
-######################################################################
-# TMC2130 SPI
-######################################################################
-
-class MCU_TMC_SPI_chain:
-    def __init__(self, config, chain_len=1):
-        self.printer = config.get_printer()
-        self.chain_len = chain_len
-        self.mutex = self.printer.get_reactor().mutex()
-        share = None
-        if chain_len > 1:
-            share = "tmc_spi_cs"
-        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000,
-                                           share_type=share)
-        self.taken_chain_positions = []
-    def _build_cmd(self, data, chain_pos):
-        return ([0x00] * ((self.chain_len - chain_pos) * 5) +
-                data + [0x00] * ((chain_pos - 1) * 5))
-    def reg_read(self, reg, chain_pos):
-        cmd = self._build_cmd([reg, 0x00, 0x00, 0x00, 0x00], chain_pos)
-        self.spi.spi_send(cmd)
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            return 0
-        params = self.spi.spi_transfer(cmd)
-        pr = bytearray(params['response'])
-        pr = pr[(self.chain_len - chain_pos) * 5 :
-                (self.chain_len - chain_pos + 1) * 5]
-        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
-    def reg_write(self, reg, val, chain_pos, print_time=None):
-        minclock = 0
-        if print_time is not None:
-            minclock = self.spi.get_mcu().print_time_to_clock(print_time)
-        data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
-                (val >> 8) & 0xff, val & 0xff]
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            self.spi.spi_send(self._build_cmd(data, chain_pos), minclock)
-            return val
-        write_cmd = self._build_cmd(data, chain_pos)
-        dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos)
-        params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read,
-                                                    minclock=minclock)
-        pr = bytearray(params['response'])
-        pr = pr[(self.chain_len - chain_pos) * 5 :
-                (self.chain_len - chain_pos + 1) * 5]
-        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
-
-# Helper to setup an spi daisy chain bus from settings in a config section
-def lookup_tmc_spi_chain(config):
-    chain_len = config.getint('chain_length', None, minval=2)
-    if chain_len is None:
-        # Simple, non daisy chained SPI connection
-        return MCU_TMC_SPI_chain(config, 1), 1
-
-    # Shared SPI bus - lookup existing MCU_TMC_SPI_chain
-    ppins = config.get_printer().lookup_object("pins")
-    cs_pin_params = ppins.lookup_pin(config.get('cs_pin'),
-                                     share_type="tmc_spi_cs")
-    tmc_spi = cs_pin_params.get('class')
-    if tmc_spi is None:
-        tmc_spi = cs_pin_params['class'] = MCU_TMC_SPI_chain(config, chain_len)
-    if chain_len != tmc_spi.chain_len:
-        raise config.error("TMC SPI chain must have same length")
-    chain_pos = config.getint('chain_position', minval=1, maxval=chain_len)
-    if chain_pos in tmc_spi.taken_chain_positions:
-        raise config.error("TMC SPI chain can not have duplicate position")
-    tmc_spi.taken_chain_positions.append(chain_pos)
-    return tmc_spi, chain_pos
-
-# Helper code for working with TMC devices via SPI
-class MCU_TMC_SPI:
-    def __init__(self, config, name_to_reg, fields):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
-        self.mutex = self.tmc_spi.mutex
-        self.name_to_reg = name_to_reg
-        self.fields = fields
-    def get_fields(self):
-        return self.fields
-    def get_register(self, reg_name):
-        reg = self.name_to_reg[reg_name]
-        with self.mutex:
-            read = self.tmc_spi.reg_read(reg, self.chain_pos)
-        return read
-    def set_register(self, reg_name, val, print_time=None):
-        reg = self.name_to_reg[reg_name]
-        with self.mutex:
-            for retry in range(5):
-                v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time)
-                if v == val:
-                    return
-        raise self.printer.command_error(
-            "Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
-
-
-######################################################################
-# TMC2130 printer object
-######################################################################
-
-class TMC2130:
-    def __init__(self, config):
-        # Setup mcu communication
-        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
-        # Register commands
-        current_helper = TMCCurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-        # Setup basic register values
-        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        # Allow other registers to be set from the config
-        set_config_field = self.fields.set_config_field
-        set_config_field(config, "toff", 4)
-        set_config_field(config, "hstrt", 0)
-        set_config_field(config, "hend", 7)
-        set_config_field(config, "tbl", 1)
-        set_config_field(config, "iholddelay", 8)
-        set_config_field(config, "tpowerdown", 0)
-        set_config_field(config, "pwm_ampl", 128)
-        set_config_field(config, "pwm_grad", 4)
-        set_config_field(config, "pwm_freq", 1)
-        set_config_field(config, "pwm_autoscale", True)
-        set_config_field(config, "sgt", 0)
-
-def load_config_prefix(config):
-    return TMC2130(config)
+# TMC2130 configuration
+#
+# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+from . import bus, tmc
+
+TMC_FREQUENCY=13200000.
+
+Registers = {
+    "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
+    "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
+    "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61,
+    "MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65,
+    "MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69,
+    "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c, "COOLCONF": 0x6d,
+    "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71,
+    "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
+}
+
+ReadRegisters = [
+    "GCONF", "GSTAT", "IOIN", "TSTEP", "XDIRECT", "MSCNT", "MSCURACT",
+    "CHOPCONF", "DRV_STATUS", "PWM_SCALE", "LOST_STEPS",
+]
+
+Fields = {}
+Fields["GCONF"] = {
+    "i_scale_analog": 1<<0, "internal_rsense": 1<<1, "en_pwm_mode": 1<<2,
+    "enc_commutation": 1<<3, "shaft": 1<<4, "diag0_error": 1<<5,
+    "diag0_otpw": 1<<6, "diag0_stall": 1<<7, "diag1_stall": 1<<8,
+    "diag1_index": 1<<9, "diag1_onstate": 1<<10, "diag1_steps_skipped": 1<<11,
+    "diag0_int_pushpull": 1<<12, "diag1_pushpull": 1<<13,
+    "small_hysteresis": 1<<14, "stop_enable": 1<<15, "direct_mode": 1<<16,
+    "test_mode": 1<<17
+}
+Fields["GSTAT"] = { "reset": 1<<0, "drv_err": 1<<1, "uv_cp": 1<<2 }
+Fields["IOIN"] = {
+    "step": 1<<0, "dir": 1<<1, "dcen_cfg4": 1<<2, "dcin_cfg5": 1<<3,
+    "drv_enn_cfg6": 1<<4, "dco": 1<<5, "version": 0xff << 24
+}
+Fields["IHOLD_IRUN"] = {
+    "ihold": 0x1f << 0, "irun": 0x1f << 8, "iholddelay": 0x0f << 16
+}
+Fields["TPOWERDOWN"] = { "tpowerdown": 0xff }
+Fields["TSTEP"] = { "tstep": 0xfffff }
+Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
+Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
+Fields["THIGH"] = { "thigh": 0xfffff }
+Fields["MSLUT0"] = { "mslut0": 0xffffffff }
+Fields["MSLUT1"] = { "mslut1": 0xffffffff }
+Fields["MSLUT2"] = { "mslut2": 0xffffffff }
+Fields["MSLUT3"] = { "mslut3": 0xffffffff }
+Fields["MSLUT4"] = { "mslut4": 0xffffffff }
+Fields["MSLUT5"] = { "mslut5": 0xffffffff }
+Fields["MSLUT6"] = { "mslut6": 0xffffffff }
+Fields["MSLUT7"] = { "mslut7": 0xffffffff }
+Fields["MSLUTSEL"] = {
+    "x3":                       0xFF << 24,
+    "x2":                       0xFF << 16,
+    "x1":                       0xFF << 8,
+    "w3":                       0x03 << 6,
+    "w2":                       0x03 << 4,
+    "w1":                       0x03 << 2,
+    "w0":                       0x03 << 0,
+}
+Fields["MSLUTSTART"] = {
+    "start_sin":                0xFF << 0,
+    "start_sin90":              0xFF << 16,
+}
+Fields["MSCNT"] = { "mscnt": 0x3ff }
+Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
+Fields["CHOPCONF"] = {
+    "toff": 0x0f, "hstrt": 0x07 << 4, "hend": 0x0f << 7, "fd3": 1<<11,
+    "disfdcc": 1<<12, "rndtf": 1<<13, "chm": 1<<14, "tbl": 0x03 << 15,
+    "vsense": 1<<17, "vhighfs": 1<<18, "vhighchm": 1<<19, "sync": 0x0f << 20,
+    "mres": 0x0f << 24, "intpol": 1<<28, "dedge": 1<<29, "diss2g": 1<<30
+}
+Fields["COOLCONF"] = {
+    "semin": 0x0f, "seup": 0x03 << 5, "semax": 0x0f << 8, "sedn": 0x03 << 13,
+    "seimin": 1<<15, "sgt": 0x7f << 16, "sfilt": 1<<24
+}
+Fields["DRV_STATUS"] = {
+    "sg_result": 0x3ff, "fsactive": 1<<15, "cs_actual": 0x1f << 16,
+    "stallguard": 1<<24, "ot": 1<<25, "otpw": 1<<26, "s2ga": 1<<27,
+    "s2gb": 1<<28, "ola": 1<<29, "olb": 1<<30, "stst": 1<<31
+}
+Fields["PWMCONF"] = {
+    "pwm_ampl": 0xff, "pwm_grad": 0xff << 8, "pwm_freq": 0x03 << 16,
+    "pwm_autoscale": 1<<18, "pwm_symmetric": 1<<19, "freewheel": 0x03 << 20
+}
+Fields["PWM_SCALE"] = { "pwm_scale": 0xff }
+Fields["LOST_STEPS"] = { "lost_steps": 0xfffff }
+
+SignedFields = ["cur_a", "cur_b", "sgt"]
+
+FieldFormatters = {
+    "i_scale_analog":   (lambda v: "1(ExtVREF)" if v else ""),
+    "shaft":            (lambda v: "1(Reverse)" if v else ""),
+    "reset":            (lambda v: "1(Reset)" if v else ""),
+    "drv_err":          (lambda v: "1(ErrorShutdown!)" if v else ""),
+    "uv_cp":            (lambda v: "1(Undervoltage!)" if v else ""),
+    "version":          (lambda v: "%#x" % v),
+    "mres":             (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
+    "otpw":             (lambda v: "1(OvertempWarning!)" if v else ""),
+    "ot":               (lambda v: "1(OvertempError!)" if v else ""),
+    "s2ga":             (lambda v: "1(ShortToGND_A!)" if v else ""),
+    "s2gb":             (lambda v: "1(ShortToGND_B!)" if v else ""),
+    "ola":              (lambda v: "1(OpenLoad_A!)" if v else ""),
+    "olb":              (lambda v: "1(OpenLoad_B!)" if v else ""),
+    "cs_actual":        (lambda v: ("%d" % v) if v else "0(Reset?)"),
+}
+
+
+######################################################################
+# TMC stepper current config helper
+######################################################################
+
+MAX_CURRENT = 2.000
+
+class TMCCurrentHelper:
+    def __init__(self, config, mcu_tmc):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.mcu_tmc = mcu_tmc
+        self.fields = mcu_tmc.get_fields()
+        run_current = config.getfloat('run_current',
+                                      above=0., maxval=MAX_CURRENT)
+        hold_current = config.getfloat('hold_current', MAX_CURRENT,
+                                       above=0., maxval=MAX_CURRENT)
+        self.req_hold_current = hold_current
+        self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
+        vsense, irun, ihold = self._calc_current(run_current, hold_current)
+        self.fields.set_field("vsense", vsense)
+        self.fields.set_field("ihold", ihold)
+        self.fields.set_field("irun", irun)
+    def _calc_current_bits(self, current, vsense):
+        sense_resistor = self.sense_resistor + 0.020
+        vref = 0.32
+        if vsense:
+            vref = 0.18
+        cs = int(32. * sense_resistor * current * math.sqrt(2.) / vref + .5) - 1
+        return max(0, min(31, cs))
+    def _calc_current_from_bits(self, cs, vsense):
+        sense_resistor = self.sense_resistor + 0.020
+        vref = 0.32
+        if vsense:
+            vref = 0.18
+        return (cs + 1) * vref / (32. * sense_resistor * math.sqrt(2.))
+    def _calc_current(self, run_current, hold_current):
+        vsense = True
+        irun = self._calc_current_bits(run_current, True)
+        if irun == 31:
+            cur = self._calc_current_from_bits(irun, True)
+            if cur < run_current:
+                irun2 = self._calc_current_bits(run_current, False)
+                cur2 = self._calc_current_from_bits(irun2, False)
+                if abs(run_current - cur2) < abs(run_current - cur):
+                    vsense = False
+                    irun = irun2
+        ihold = self._calc_current_bits(min(hold_current, run_current), vsense)
+        return vsense, irun, ihold
+    def get_current(self):
+        irun = self.fields.get_field("irun")
+        ihold = self.fields.get_field("ihold")
+        vsense = self.fields.get_field("vsense")
+        run_current = self._calc_current_from_bits(irun, vsense)
+        hold_current = self._calc_current_from_bits(ihold, vsense)
+        return run_current, hold_current, self.req_hold_current, MAX_CURRENT
+    def set_current(self, run_current, hold_current, print_time):
+        self.req_hold_current = hold_current
+        vsense, irun, ihold = self._calc_current(run_current, hold_current)
+        if vsense != self.fields.get_field("vsense"):
+            val = self.fields.set_field("vsense", vsense)
+            self.mcu_tmc.set_register("CHOPCONF", val, print_time)
+        self.fields.set_field("ihold", ihold)
+        val = self.fields.set_field("irun", irun)
+        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
+
+
+######################################################################
+# TMC2130 SPI
+######################################################################
+
+class MCU_TMC_SPI_chain:
+    def __init__(self, config, chain_len=1):
+        self.printer = config.get_printer()
+        self.chain_len = chain_len
+        self.mutex = self.printer.get_reactor().mutex()
+        share = None
+        if chain_len > 1:
+            share = "tmc_spi_cs"
+        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000,
+                                           share_type=share)
+        self.taken_chain_positions = []
+    def _build_cmd(self, data, chain_pos):
+        return ([0x00] * ((self.chain_len - chain_pos) * 5) +
+                data + [0x00] * ((chain_pos - 1) * 5))
+    def reg_read(self, reg, chain_pos):
+        cmd = self._build_cmd([reg, 0x00, 0x00, 0x00, 0x00], chain_pos)
+        self.spi.spi_send(cmd)
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
+        params = self.spi.spi_transfer(cmd)
+        pr = bytearray(params['response'])
+        pr = pr[(self.chain_len - chain_pos) * 5 :
+                (self.chain_len - chain_pos + 1) * 5]
+        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
+    def reg_write(self, reg, val, chain_pos, print_time=None):
+        minclock = 0
+        if print_time is not None:
+            minclock = self.spi.get_mcu().print_time_to_clock(print_time)
+        data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
+                (val >> 8) & 0xff, val & 0xff]
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            self.spi.spi_send(self._build_cmd(data, chain_pos), minclock)
+            return val
+        write_cmd = self._build_cmd(data, chain_pos)
+        dummy_read = self._build_cmd([0x00, 0x00, 0x00, 0x00, 0x00], chain_pos)
+        params = self.spi.spi_transfer_with_preface(write_cmd, dummy_read,
+                                                    minclock=minclock)
+        pr = bytearray(params['response'])
+        pr = pr[(self.chain_len - chain_pos) * 5 :
+                (self.chain_len - chain_pos + 1) * 5]
+        return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
+
+# Helper to setup an spi daisy chain bus from settings in a config section
+def lookup_tmc_spi_chain(config):
+    chain_len = config.getint('chain_length', None, minval=2)
+    if chain_len is None:
+        # Simple, non daisy chained SPI connection
+        return MCU_TMC_SPI_chain(config, 1), 1
+
+    # Shared SPI bus - lookup existing MCU_TMC_SPI_chain
+    ppins = config.get_printer().lookup_object("pins")
+    cs_pin_params = ppins.lookup_pin(config.get('cs_pin'),
+                                     share_type="tmc_spi_cs")
+    tmc_spi = cs_pin_params.get('class')
+    if tmc_spi is None:
+        tmc_spi = cs_pin_params['class'] = MCU_TMC_SPI_chain(config, chain_len)
+    if chain_len != tmc_spi.chain_len:
+        raise config.error("TMC SPI chain must have same length")
+    chain_pos = config.getint('chain_position', minval=1, maxval=chain_len)
+    if chain_pos in tmc_spi.taken_chain_positions:
+        raise config.error("TMC SPI chain can not have duplicate position")
+    tmc_spi.taken_chain_positions.append(chain_pos)
+    return tmc_spi, chain_pos
+
+# Helper code for working with TMC devices via SPI
+class MCU_TMC_SPI:
+    def __init__(self, config, name_to_reg, fields, tmc_frequency):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.tmc_spi, self.chain_pos = lookup_tmc_spi_chain(config)
+        self.mutex = self.tmc_spi.mutex
+        self.name_to_reg = name_to_reg
+        self.fields = fields
+        self.tmc_frequency = tmc_frequency
+    def get_fields(self):
+        return self.fields
+    def get_register(self, reg_name):
+        reg = self.name_to_reg[reg_name]
+        with self.mutex:
+            read = self.tmc_spi.reg_read(reg, self.chain_pos)
+        return read
+    def set_register(self, reg_name, val, print_time=None):
+        reg = self.name_to_reg[reg_name]
+        with self.mutex:
+            for retry in range(5):
+                v = self.tmc_spi.reg_write(reg, val, self.chain_pos, print_time)
+                if v == val:
+                    return
+        raise self.printer.command_error(
+            "Unable to write tmc spi '%s' register %s" % (self.name, reg_name))
+    def get_tmc_frequency(self):
+        return self.tmc_frequency
+
+
+######################################################################
+# TMC2130 printer object
+######################################################################
+
+class TMC2130:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
+        self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields,
+                                   TMC_FREQUENCY)
+        # Allow virtual pins to be created
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
+        # Register commands
+        current_helper = TMCCurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+        # Setup basic register values
+        tmc.TMCWaveTableHelper(config, self.mcu_tmc)
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        # Allow other registers to be set from the config
+        set_config_field = self.fields.set_config_field
+        # CHOPCONF
+        set_config_field(config, "toff", 4)
+        set_config_field(config, "hstrt", 0)
+        set_config_field(config, "hend", 7)
+        set_config_field(config, "tbl", 1)
+        # COOLCONF
+        set_config_field(config, "sgt", 0)
+        # IHOLDIRUN
+        set_config_field(config, "iholddelay", 8)
+        # PWMCONF
+        set_config_field(config, "pwm_ampl", 128)
+        set_config_field(config, "pwm_grad", 4)
+        set_config_field(config, "pwm_freq", 1)
+        set_config_field(config, "pwm_autoscale", True)
+        # TPOWERDOWN
+        set_config_field(config, "tpowerdown", 0)
+
+def load_config_prefix(config):
+    return TMC2130(config)

klippy/extras/tmc2208.py

@@ -1,223 +1,229 @@
-# TMC2208 UART communication and configuration
-#
-# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-from . import tmc, tmc_uart, tmc2130
-
-TMC_FREQUENCY=12000000.
-
-Registers = {
-    "GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
-    "OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
-    "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
-    "VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
-    "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
-}
-
-ReadRegisters = [
-    "GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
-    "MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
-    "PWMCONF", "PWM_SCALE", "PWM_AUTO"
-]
-
-Fields = {}
-
-Fields["GCONF"] = {
-    "i_scale_analog":      0x01,
-    "internal_rsense":     0x01 << 1,
-    "en_spreadcycle":      0x01 << 2,
-    "shaft":               0x01 << 3,
-    "index_otpw":          0x01 << 4,
-    "index_step":          0x01 << 5,
-    "pdn_disable":         0x01 << 6,
-    "mstep_reg_select":    0x01 << 7,
-    "multistep_filt":      0x01 << 8,
-    "test_mode":           0x01 << 9
-}
-Fields["GSTAT"] = {
-    "reset":               0x01,
-    "drv_err":             0x01 << 1,
-    "uv_cp":               0x01 << 2
-}
-Fields["IFCNT"] = {
-    "ifcnt":               0xff
-}
-Fields["SLAVECONF"] = {
-    "senddelay":           0x0f << 8
-}
-Fields["OTP_PROG"] = {
-    "otpbit":              0x07,
-    "otpbyte":             0x03 << 4,
-    "otpmagic":            0xff << 8
-}
-Fields["OTP_READ"] = {
-    "otp_fclktrim":        0x1f,
-    "otp_ottrim":          0x01 << 5,
-    "otp_internalrsense":  0x01 << 6,
-    "otp_tbl":             0x01 << 7,
-    "otp_pwm_grad":        0x0f << 8,
-    "otp_pwm_autograd":    0x01 << 12,
-    "otp_tpwmthrs":        0x07 << 13,
-    "otp_pwm_ofs":         0x01 << 16,
-    "otp_pwm_reg":         0x01 << 17,
-    "otp_pwm_freq":        0x01 << 18,
-    "otp_iholddelay":      0x03 << 19,
-    "otp_ihold":           0x03 << 21,
-    "otp_en_spreadcycle":  0x01 << 23
-}
-# IOIN mapping depends on the driver type (SEL_A field)
-# TMC222x (SEL_A == 0)
-Fields["IOIN@TMC222x"] = {
-    "pdn_uart":            0x01 << 1,
-    "spread":              0x01 << 2,
-    "dir":                 0x01 << 3,
-    "enn":                 0x01 << 4,
-    "step":                0x01 << 5,
-    "ms1":                 0x01 << 6,
-    "ms2":                 0x01 << 7,
-    "sel_a":               0x01 << 8,
-    "version":             0xff << 24
-}
-# TMC220x (SEL_A == 1)
-Fields["IOIN@TMC220x"] = {
-    "enn":                 0x01,
-    "ms1":                 0x01 << 2,
-    "ms2":                 0x01 << 3,
-    "diag":                0x01 << 4,
-    "pdn_uart":            0x01 << 6,
-    "step":                0x01 << 7,
-    "sel_a":               0x01 << 8,
-    "dir":                 0x01 << 9,
-    "version":             0xff << 24,
-}
-Fields["FACTORY_CONF"] = {
-    "fclktrim":            0x1f,
-    "ottrim":              0x03 << 8
-}
-Fields["IHOLD_IRUN"] = {
-    "ihold":               0x1f,
-    "irun":                0x1f << 8,
-    "iholddelay":          0x0f << 16
-}
-Fields["TPOWERDOWN"] = {
-    "tpowerdown":          0xff
-}
-Fields["TSTEP"] = {
-    "tstep":               0xfffff
-}
-Fields["TPWMTHRS"] = {
-    "tpwmthrs":            0xfffff
-}
-Fields["VACTUAL"] = {
-    "vactual":             0xffffff
-}
-Fields["MSCNT"] = {
-    "mscnt":               0x3ff
-}
-Fields["MSCURACT"] = {
-    "cur_a":               0x1ff,
-    "cur_b":               0x1ff << 16
-}
-Fields["CHOPCONF"] = {
-    "toff":                0x0f,
-    "hstrt":               0x07 << 4,
-    "hend":                0x0f << 7,
-    "tbl":                 0x03 << 15,
-    "vsense":              0x01 << 17,
-    "mres":                0x0f << 24,
-    "intpol":              0x01 << 28,
-    "dedge":               0x01 << 29,
-    "diss2g":              0x01 << 30,
-    "diss2vs":             0x01 << 31
-}
-Fields["DRV_STATUS"] = {
-    "otpw":                0x01,
-    "ot":                  0x01 << 1,
-    "s2ga":                0x01 << 2,
-    "s2gb":                0x01 << 3,
-    "s2vsa":               0x01 << 4,
-    "s2vsb":               0x01 << 5,
-    "ola":                 0x01 << 6,
-    "olb":                 0x01 << 7,
-    "t120":                0x01 << 8,
-    "t143":                0x01 << 9,
-    "t150":                0x01 << 10,
-    "t157":                0x01 << 11,
-    "cs_actual":           0x1f << 16,
-    "stealth":             0x01 << 30,
-    "stst":                0x01 << 31
-}
-Fields["PWMCONF"] = {
-    "pwm_ofs":             0xff,
-    "pwm_grad":            0xff << 8,
-    "pwm_freq":            0x03 << 16,
-    "pwm_autoscale":       0x01 << 18,
-    "pwm_autograd":        0x01 << 19,
-    "freewheel":           0x03 << 20,
-    "pwm_reg":             0xf << 24,
-    "pwm_lim":             0xf << 28
-}
-Fields["PWM_SCALE"] = {
-    "pwm_scale_sum":       0xff,
-    "pwm_scale_auto":      0x1ff << 16
-}
-Fields["PWM_AUTO"] = {
-    "pwm_ofs_auto":        0xff,
-    "pwm_grad_auto":       0xff << 16
-}
-
-SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"]
-
-FieldFormatters = dict(tmc2130.FieldFormatters)
-FieldFormatters.update({
-    "sel_a":            (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
-    "s2vsa":            (lambda v: "1(LowSideShort_A!)" if v else ""),
-    "s2vsb":            (lambda v: "1(LowSideShort_B!)" if v else ""),
-})
-
-
-######################################################################
-# TMC2208 printer object
-######################################################################
-
-class TMC2208:
-    def __init__(self, config):
-        # Setup mcu communication
-        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
-        self.fields.set_field("pdn_disable", True)
-        # Register commands
-        current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-        # Setup basic register values
-        self.fields.set_field("mstep_reg_select", True)
-        self.fields.set_field("multistep_filt", True)
-        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        # Allow other registers to be set from the config
-        set_config_field = self.fields.set_config_field
-        set_config_field(config, "toff", 3)
-        set_config_field(config, "hstrt", 5)
-        set_config_field(config, "hend", 0)
-        set_config_field(config, "tbl", 2)
-        set_config_field(config, "iholddelay", 8)
-        set_config_field(config, "tpowerdown", 20)
-        set_config_field(config, "pwm_ofs", 36)
-        set_config_field(config, "pwm_grad", 14)
-        set_config_field(config, "pwm_freq", 1)
-        set_config_field(config, "pwm_autoscale", True)
-        set_config_field(config, "pwm_autograd", True)
-        set_config_field(config, "pwm_reg", 8)
-        set_config_field(config, "pwm_lim", 12)
-    def read_translate(self, reg_name, val):
-        if reg_name == "IOIN":
-            drv_type = self.fields.get_field("sel_a", val)
-            reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
-        return reg_name, val
-
-def load_config_prefix(config):
-    return TMC2208(config)
+# TMC2208 UART communication and configuration
+#
+# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+from . import tmc, tmc_uart, tmc2130
+
+TMC_FREQUENCY=12000000.
+
+Registers = {
+    "GCONF": 0x00, "GSTAT": 0x01, "IFCNT": 0x02, "SLAVECONF": 0x03,
+    "OTP_PROG": 0x04, "OTP_READ": 0x05, "IOIN": 0x06, "FACTORY_CONF": 0x07,
+    "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13,
+    "VACTUAL": 0x22, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
+    "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71, "PWM_AUTO": 0x72
+}
+
+ReadRegisters = [
+    "GCONF", "GSTAT", "IFCNT", "OTP_READ", "IOIN", "FACTORY_CONF", "TSTEP",
+    "MSCNT", "MSCURACT", "CHOPCONF", "DRV_STATUS",
+    "PWMCONF", "PWM_SCALE", "PWM_AUTO"
+]
+
+Fields = {}
+
+Fields["GCONF"] = {
+    "i_scale_analog":      0x01,
+    "internal_rsense":     0x01 << 1,
+    "en_spreadcycle":      0x01 << 2,
+    "shaft":               0x01 << 3,
+    "index_otpw":          0x01 << 4,
+    "index_step":          0x01 << 5,
+    "pdn_disable":         0x01 << 6,
+    "mstep_reg_select":    0x01 << 7,
+    "multistep_filt":      0x01 << 8,
+    "test_mode":           0x01 << 9
+}
+Fields["GSTAT"] = {
+    "reset":               0x01,
+    "drv_err":             0x01 << 1,
+    "uv_cp":               0x01 << 2
+}
+Fields["IFCNT"] = {
+    "ifcnt":               0xff
+}
+Fields["SLAVECONF"] = {
+    "senddelay":           0x0f << 8
+}
+Fields["OTP_PROG"] = {
+    "otpbit":              0x07,
+    "otpbyte":             0x03 << 4,
+    "otpmagic":            0xff << 8
+}
+Fields["OTP_READ"] = {
+    "otp_fclktrim":        0x1f,
+    "otp_ottrim":          0x01 << 5,
+    "otp_internalrsense":  0x01 << 6,
+    "otp_tbl":             0x01 << 7,
+    "otp_pwm_grad":        0x0f << 8,
+    "otp_pwm_autograd":    0x01 << 12,
+    "otp_tpwmthrs":        0x07 << 13,
+    "otp_pwm_ofs":         0x01 << 16,
+    "otp_pwm_reg":         0x01 << 17,
+    "otp_pwm_freq":        0x01 << 18,
+    "otp_iholddelay":      0x03 << 19,
+    "otp_ihold":           0x03 << 21,
+    "otp_en_spreadcycle":  0x01 << 23
+}
+# IOIN mapping depends on the driver type (SEL_A field)
+# TMC222x (SEL_A == 0)
+Fields["IOIN@TMC222x"] = {
+    "pdn_uart":            0x01 << 1,
+    "spread":              0x01 << 2,
+    "dir":                 0x01 << 3,
+    "enn":                 0x01 << 4,
+    "step":                0x01 << 5,
+    "ms1":                 0x01 << 6,
+    "ms2":                 0x01 << 7,
+    "sel_a":               0x01 << 8,
+    "version":             0xff << 24
+}
+# TMC220x (SEL_A == 1)
+Fields["IOIN@TMC220x"] = {
+    "enn":                 0x01,
+    "ms1":                 0x01 << 2,
+    "ms2":                 0x01 << 3,
+    "diag":                0x01 << 4,
+    "pdn_uart":            0x01 << 6,
+    "step":                0x01 << 7,
+    "sel_a":               0x01 << 8,
+    "dir":                 0x01 << 9,
+    "version":             0xff << 24,
+}
+Fields["FACTORY_CONF"] = {
+    "fclktrim":            0x1f,
+    "ottrim":              0x03 << 8
+}
+Fields["IHOLD_IRUN"] = {
+    "ihold":               0x1f,
+    "irun":                0x1f << 8,
+    "iholddelay":          0x0f << 16
+}
+Fields["TPOWERDOWN"] = {
+    "tpowerdown":          0xff
+}
+Fields["TSTEP"] = {
+    "tstep":               0xfffff
+}
+Fields["TPWMTHRS"] = {
+    "tpwmthrs":            0xfffff
+}
+Fields["VACTUAL"] = {
+    "vactual":             0xffffff
+}
+Fields["MSCNT"] = {
+    "mscnt":               0x3ff
+}
+Fields["MSCURACT"] = {
+    "cur_a":               0x1ff,
+    "cur_b":               0x1ff << 16
+}
+Fields["CHOPCONF"] = {
+    "toff":                0x0f,
+    "hstrt":               0x07 << 4,
+    "hend":                0x0f << 7,
+    "tbl":                 0x03 << 15,
+    "vsense":              0x01 << 17,
+    "mres":                0x0f << 24,
+    "intpol":              0x01 << 28,
+    "dedge":               0x01 << 29,
+    "diss2g":              0x01 << 30,
+    "diss2vs":             0x01 << 31
+}
+Fields["DRV_STATUS"] = {
+    "otpw":                0x01,
+    "ot":                  0x01 << 1,
+    "s2ga":                0x01 << 2,
+    "s2gb":                0x01 << 3,
+    "s2vsa":               0x01 << 4,
+    "s2vsb":               0x01 << 5,
+    "ola":                 0x01 << 6,
+    "olb":                 0x01 << 7,
+    "t120":                0x01 << 8,
+    "t143":                0x01 << 9,
+    "t150":                0x01 << 10,
+    "t157":                0x01 << 11,
+    "cs_actual":           0x1f << 16,
+    "stealth":             0x01 << 30,
+    "stst":                0x01 << 31
+}
+Fields["PWMCONF"] = {
+    "pwm_ofs":             0xff,
+    "pwm_grad":            0xff << 8,
+    "pwm_freq":            0x03 << 16,
+    "pwm_autoscale":       0x01 << 18,
+    "pwm_autograd":        0x01 << 19,
+    "freewheel":           0x03 << 20,
+    "pwm_reg":             0xf << 24,
+    "pwm_lim":             0xf << 28
+}
+Fields["PWM_SCALE"] = {
+    "pwm_scale_sum":       0xff,
+    "pwm_scale_auto":      0x1ff << 16
+}
+Fields["PWM_AUTO"] = {
+    "pwm_ofs_auto":        0xff,
+    "pwm_grad_auto":       0xff << 16
+}
+
+SignedFields = ["cur_a", "cur_b", "pwm_scale_auto"]
+
+FieldFormatters = dict(tmc2130.FieldFormatters)
+FieldFormatters.update({
+    "sel_a":            (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
+    "s2vsa":            (lambda v: "1(ShortToSupply_A!)" if v else ""),
+    "s2vsb":            (lambda v: "1(ShortToSupply_B!)" if v else ""),
+})
+
+
+######################################################################
+# TMC2208 printer object
+######################################################################
+
+class TMC2208:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
+        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 0,
+                                             TMC_FREQUENCY)
+        self.fields.set_field("pdn_disable", True)
+        # Register commands
+        current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+        # Setup basic register values
+        self.fields.set_field("mstep_reg_select", True)
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        # Allow other registers to be set from the config
+        set_config_field = self.fields.set_config_field
+        # GCONF
+        set_config_field(config, "multistep_filt", True)
+        # CHOPCONF
+        set_config_field(config, "toff", 3)
+        set_config_field(config, "hstrt", 5)
+        set_config_field(config, "hend", 0)
+        set_config_field(config, "tbl", 2)
+        # IHOLDIRUN
+        set_config_field(config, "iholddelay", 8)
+        # PWMCONF
+        set_config_field(config, "pwm_ofs", 36)
+        set_config_field(config, "pwm_grad", 14)
+        set_config_field(config, "pwm_freq", 1)
+        set_config_field(config, "pwm_autoscale", True)
+        set_config_field(config, "pwm_autograd", True)
+        set_config_field(config, "pwm_reg", 8)
+        set_config_field(config, "pwm_lim", 12)
+        # TPOWERDOWN
+        set_config_field(config, "tpowerdown", 20)
+    def read_translate(self, reg_name, val):
+        if reg_name == "IOIN":
+            drv_type = self.fields.get_field("sel_a", val)
+            reg_name = "IOIN@TMC220x" if drv_type else "IOIN@TMC222x"
+        return reg_name, val
+
+def load_config_prefix(config):
+    return TMC2208(config)

klippy/extras/tmc2209.py

@@ -1,96 +1,102 @@
-# TMC2209 configuration
-#
-# Copyright (C) 2019  Stephan Oelze <stephan.oelze@gmail.com>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-from . import tmc2208, tmc2130, tmc, tmc_uart
-
-TMC_FREQUENCY=12000000.
-
-Registers = dict(tmc2208.Registers)
-Registers.update({
-    "TCOOLTHRS":    0x14,
-    "COOLCONF":     0x42,
-    "SGTHRS":       0x40,
-    "SG_RESULT":    0x41
-})
-
-ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]
-
-Fields = dict(tmc2208.Fields)
-Fields["COOLCONF"] = {
-    "semin":        0x0F << 0,
-    "seup":         0x03 << 5,
-    "semax":        0x0F << 8,
-    "sedn":         0x03 << 13,
-    "seimin":       0x01 << 15
-}
-Fields["IOIN"] = {
-    "enn":          0x01 << 0,
-    "ms1":          0x01 << 2,
-    "ms2":          0x01 << 3,
-    "diag":         0x01 << 4,
-    "pdn_uart":     0x01 << 6,
-    "step":         0x01 << 7,
-    "spread_en":    0x01 << 8,
-    "dir":          0x01 << 9,
-    "version":      0xff << 24
-}
-Fields["SGTHRS"] = {
-    "sgthrs":       0xFF << 0
-}
-Fields["SG_RESULT"] = {
-    "sg_result":    0x3FF << 0
-}
-Fields["TCOOLTHRS"] = {
-    "tcoolthrs": 0xfffff
-}
-
-FieldFormatters = dict(tmc2208.FieldFormatters)
-
-
-######################################################################
-# TMC2209 printer object
-######################################################################
-
-class TMC2209:
-    def __init__(self, config):
-        # Setup mcu communication
-        self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
-                                      FieldFormatters)
-        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3)
-        # Setup fields for UART
-        self.fields.set_field("pdn_disable", True)
-        self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
-        # Register commands
-        current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-        # Setup basic register values
-        self.fields.set_field("pdn_disable", True)
-        self.fields.set_field("mstep_reg_select", True)
-        self.fields.set_field("multistep_filt", True)
-        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        # Allow other registers to be set from the config
-        set_config_field = self.fields.set_config_field
-        set_config_field(config, "toff", 3)
-        set_config_field(config, "hstrt", 5)
-        set_config_field(config, "hend", 0)
-        set_config_field(config, "tbl", 2)
-        set_config_field(config, "iholddelay", 8)
-        set_config_field(config, "tpowerdown", 20)
-        set_config_field(config, "pwm_ofs", 36)
-        set_config_field(config, "pwm_grad", 14)
-        set_config_field(config, "pwm_freq", 1)
-        set_config_field(config, "pwm_autoscale", True)
-        set_config_field(config, "pwm_autograd", True)
-        set_config_field(config, "pwm_reg", 8)
-        set_config_field(config, "pwm_lim", 12)
-        set_config_field(config, "sgthrs", 0)
-
-def load_config_prefix(config):
-    return TMC2209(config)
+# TMC2209 configuration
+#
+# Copyright (C) 2019  Stephan Oelze <stephan.oelze@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+from . import tmc2208, tmc2130, tmc, tmc_uart
+
+TMC_FREQUENCY=12000000.
+
+Registers = dict(tmc2208.Registers)
+Registers.update({
+    "TCOOLTHRS":    0x14,
+    "COOLCONF":     0x42,
+    "SGTHRS":       0x40,
+    "SG_RESULT":    0x41
+})
+
+ReadRegisters = tmc2208.ReadRegisters + ["SG_RESULT"]
+
+Fields = dict(tmc2208.Fields)
+Fields["COOLCONF"] = {
+    "semin":        0x0F << 0,
+    "seup":         0x03 << 5,
+    "semax":        0x0F << 8,
+    "sedn":         0x03 << 13,
+    "seimin":       0x01 << 15
+}
+Fields["IOIN"] = {
+    "enn":          0x01 << 0,
+    "ms1":          0x01 << 2,
+    "ms2":          0x01 << 3,
+    "diag":         0x01 << 4,
+    "pdn_uart":     0x01 << 6,
+    "step":         0x01 << 7,
+    "spread_en":    0x01 << 8,
+    "dir":          0x01 << 9,
+    "version":      0xff << 24
+}
+Fields["SGTHRS"] = {
+    "sgthrs":       0xFF << 0
+}
+Fields["SG_RESULT"] = {
+    "sg_result":    0x3FF << 0
+}
+Fields["TCOOLTHRS"] = {
+    "tcoolthrs": 0xfffff
+}
+
+FieldFormatters = dict(tmc2208.FieldFormatters)
+
+
+######################################################################
+# TMC2209 printer object
+######################################################################
+
+class TMC2209:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, tmc2208.SignedFields,
+                                      FieldFormatters)
+        self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 3,
+                                             TMC_FREQUENCY)
+        # Setup fields for UART
+        self.fields.set_field("pdn_disable", True)
+        self.fields.set_field("senddelay", 2) # Avoid tx errors on shared uart
+        # Allow virtual pins to be created
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
+        # Register commands
+        current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+        # Setup basic register values
+        self.fields.set_field("mstep_reg_select", True)
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        # Allow other registers to be set from the config
+        set_config_field = self.fields.set_config_field
+        # GCONF
+        set_config_field(config, "multistep_filt", True)
+        # CHOPCONF
+        set_config_field(config, "toff", 3)
+        set_config_field(config, "hstrt", 5)
+        set_config_field(config, "hend", 0)
+        set_config_field(config, "tbl", 2)
+        # IHOLDIRUN
+        set_config_field(config, "iholddelay", 8)
+        # PWMCONF
+        set_config_field(config, "pwm_ofs", 36)
+        set_config_field(config, "pwm_grad", 14)
+        set_config_field(config, "pwm_freq", 1)
+        set_config_field(config, "pwm_autoscale", True)
+        set_config_field(config, "pwm_autograd", True)
+        set_config_field(config, "pwm_reg", 8)
+        set_config_field(config, "pwm_lim", 12)
+        # TPOWERDOWN
+        set_config_field(config, "tpowerdown", 20)
+        # SGTHRS
+        set_config_field(config, "sgthrs", 0)
+
+def load_config_prefix(config):
+    return TMC2209(config)

klippy/extras/tmc2240.py

@@ -1,453 +1,408 @@
-# TMC2240 configuration
-# <kenneth.lin.gd.cn@gmail.com>
-
-import math, logging
-from . import bus, tmc, tmc_uart, tmc2130
-
-TMC_FREQUENCY=10000000.
-
-Registers = {
-    "GCONF":                0x00,
-    "GSTAT":                0x01,
-    "IFCNT":                0x02,
-    "SLAVECONF":            0x03,
-    "IOIN":                 0x04,
-    "DRV_CONF":             0x0A,
-    "GLOBALSCALER":         0x0B,
-    "IHOLD_IRUN":           0x10,
-    "TPOWERDOWN":           0x11,
-    "TSTEP":                0x12,
-    "TPWMTHRS":             0x13,
-    "TCOOLTHRS":            0x14,
-    "THIGH":                0x15,
-    "DIRECT_MODE":          0x2d,
-    "ENCMODE":              0x38,
-    "X_ENC":                0x39,
-    "ENC_CONST":            0x3a,
-    "ENC_STATUS":           0x3b,
-    "ENC_LATCH":            0x3c,
-    "ADC_VSUPPLY_AIN":      0x50,
-    "ADC_TEMP":             0x51,
-    "OTW_OV_VTH":           0x52,
-    "MSLUT_0":              0x60,
-    "MSLUT_1":              0x61,
-    "MSLUT_2":              0x62,
-    "MSLUT_3":              0x63,
-    "MSLUT_4":              0x64,
-    "MSLUT_5":              0x65,
-    "MSLUT_6":              0x66,
-    "MSLUT_7":              0x67,
-    "MSLUTSEL":             0x68,
-    "MSLUTSTART":           0x69,
-    "MSCNT":                0x6a,
-    "MSCURACT":             0x6b,
-    "CHOPCONF":             0x6c,
-    "COOLCONF":             0x6d,
-    "DRV_STATUS":           0x6f,
-    "PWMCONF":              0x70,
-    "PWM_SCALE":            0x71,
-    "PWM_AUTO":             0x72,
-    # "SG4_THRS":             0x74,
-    "SGTHRS":               0x74,
-    "SG4_RESULT":           0x75,
-    "SG4_IND":              0x76
-}
-
-ReadRegisters = [
-    "GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "IOIN",
-    "MSCNT", "MSCURACT", "PWM_SCALE", "PWM_AUTO", "IFCNT"
-]
-
-Fields = {}
-
-Fields["GCONF"] = {
-    "fast_standstill":          0x01 << 1,
-    "en_pwm_mode":              0x01 << 2,
-    "multistep_filt":           0x01 << 3,
-    "shaft":                    0x01 << 4,
-    "diag0_error":              0x01 << 5,
-    "diag0_otpw":               0x01 << 6,
-    "diag0_stall":              0x01 << 7,
-    "diag1_stall":              0x01 << 8,
-    "diag1_index":              0x01 << 9,
-    "diag1_onstate":            0x01 << 10,
-    "diag0_pushpull":           0x01 << 12,
-    "diag1_pushpull":           0x01 << 13,
-    "small_hysteresis":         0x01 << 14,
-    "stop_enable":              0x01 << 15,
-    "direct_mode":              0x01 << 16,
-}
-
-Fields["GSTAT"] = {
-    "reset":                    0x01 << 0,
-    "drv_err":                  0x01 << 1,
-    "uv_cp":                    0x01 << 2,
-    "register_reset":           0x01 << 3,
-    "vm_uvlo":                  0x01 << 4
-}
-
-Fields["IOIN"] = {
-    "step":                     0x01 << 0,
-    "dir":                      0x01 << 1,
-    "encb":                     0x01 << 2,
-    "enca":                     0x01 << 3,
-    "drv_enn":                  0x01 << 4,
-    "encn":                     0x01 << 5,
-    "uart_en":                  0x01 << 6,
-    "reserved":                 0x01 << 7,
-    "comp_a":                   0x01 << 8,
-    "comp_b":                   0x01 << 9,
-    "comp_a1_a2":               0x01 << 10,
-    "comp_b1_b2":               0x01 << 11,
-    "version":                  0xff << 24
-}
-
-Fields["GLOBALSCALER"] = {
-    "globalscaler":             0xff << 0
-}
-
-Fields["IHOLD_IRUN"] = {
-    "ihold":                    0x1f << 0,
-    "irun":                     0x1f << 8,
-    "iholddelay":               0x0f << 16,
-    "irundelay":                0x0f << 24
-}
-
-Fields["TPOWERDOWN"] = {
-    "tpowerdown":               0xff
-}
-
-Fields["TSTEP"] = {
-    "tstep":                    0xfffff << 0
-}
-
-Fields["TPWMTHRS"] = {
-    "tpwmthrs":                 0xfffff << 0
-}
-
-Fields["TCOOLTHRS"] = {
-    "tcoolthrs":                0xfffff << 0
-}
-
-Fields["THIGH"] = {
-    "thigh":                    0xfffff << 0
-}
-
-Fields["DIRECT_MODE"] = {
-    "direct_coil_a":            0x1ff << 0,
-    "direct_coil_b":            0x1ff << 16
-}
-
-Fields["ENCMODE"] = {
-    "pol_a":                    0x01 << 0,
-    "pol_b":                    0x01 << 1,
-    "pol_n":                    0x01 << 2,
-    "ignore_ab":                0x01 << 3,
-    "clr_cont":                 0x01 << 4,
-    "clr_once":                 0x01 << 5,
-    "pos_neg_edge":             0x03 << 6,
-    "clr_enc_x":                0x01 << 8,
-    "enc_sel_decimal":          0x01 << 10
-}
-
-Fields["X_ENC"] = {
-    "x_enc":                    0xffffffff << 0
-}
-
-Fields["ENC_CONST"] = {
-    "enc_const":                0xffffffff << 0
-}
-
-Fields["ENC_STATUS"] = {
-    "n_event":                  0x01 << 0
-}
-
-Fields["ENC_LATCH"] = {
-    "enc_latch":                0xffffffff << 0
-}
-
-Fields["MSLUT_0"] = {
-    "mslut_0":                  0xffffffff << 0
-}
-
-Fields["MSLUT_1"] = {
-    "mslut_1":                  0xffffffff << 0
-}
-
-Fields["MSLUT_2"] = {
-    "mslut_2":                  0xffffffff << 0
-}
-
-Fields["MSLUT_3"] = {
-    "mslut_3":                  0xffffffff << 0
-}
-
-Fields["MSLUT_4"] = {
-    "mslut_4":                  0xffffffff << 0
-}
-
-Fields["MSLUT_5"] = {
-    "mslut_5":                  0xffffffff << 0
-}
-
-Fields["MSLUT_6"] = {
-    "mslut_6":                  0xffffffff << 0
-}
-
-Fields["MSLUT_7"] = {
-    "mslut_7":                  0xffffffff << 0
-}
-
-Fields["MSLUTSEL"] = {
-    "w0":                       0x03 << 0,
-    "w1":                       0x03 << 2,
-    "w2":                       0x03 << 4,
-    "w3":                       0x03 << 6,
-    "x1":                       0xff << 8,
-    "x2":                       0xff << 16,
-    "x3":                       0xff << 24
-}
-
-Fields["MSLUTSTART"] = {
-    "start_sin":                0xff << 0,
-    "start_sin90":              0xff << 16,
-    "offset_sin90":             0xff << 24
-}
-
-Fields["MSCNT"] = {
-    "mscnt":                    0x3ff << 0
-}
-
-Fields["MSCURACT"] = {
-    "cur_b":                    0x1ff << 0,
-    "cur_a":                    0x1ff << 16
-}
-
-Fields["CHOPCONF"] = {
-    "toff":                     0x0F << 0,
-    "hstrt":                    0x07 << 4,
-    "hend":                     0x0F << 7,
-    "fd3":                      0x01 << 11,
-    "disfdcc":                  0x01 << 12,
-    "chm":                      0x01 << 14,
-    "tbl":                      0x03 << 15,
-    "vhighfs":                  0x01 << 18,
-    "vhighchm":                 0x01 << 19,
-    "tpfd":                     0x0F << 20, # midrange resonances
-    "mres":                     0x0F << 24,
-    "intpol":                   0x01 << 28,
-    "dedge":                    0x01 << 29,
-    "diss2g":                   0x01 << 30,
-    "diss2vs":                  0x01 << 31
-}
-
-Fields["COOLCONF"] = {
-    "semin":                    0x0f << 0,
-    "seup":                     0x03 << 5,
-    "semax":                    0x0f << 8,
-    "sedn":                     0x03 << 13,
-    "seimin":                   0x01 << 15,
-    "sgt":                      0x7f << 16,
-    "sfilt":                    0x01 << 24
-}
-
-Fields["DRV_STATUS"] = {
-    "sg_result":                0x3FF << 0,
-    "s2vsa":                    0x01 << 12,
-    "s2vsb":                    0x01 << 13,
-    "stealth":                  0x01 << 14,
-    "fsactive":                 0x01 << 15,
-    "csactual":                 0xFF << 16,
-    "stallguard":               0x01 << 24,
-    "ot":                       0x01 << 25,
-    "otpw":                     0x01 << 26,
-    "s2ga":                     0x01 << 27,
-    "s2gb":                     0x01 << 28,
-    "ola":                      0x01 << 29,
-    "olb":                      0x01 << 30,
-    "stst":                     0x01 << 31
-}
-
-Fields["PWMCONF"] = {
-    "pwm_ofs":                  0xFF << 0,
-    "pwm_grad":                 0xFF << 8,
-    "pwm_freq":                 0x03 << 16,
-    "pwm_autoscale":            0x01 << 18,
-    "pwm_autograd":             0x01 << 19,
-    "freewheel":                0x03 << 20,
-    "pwm_meas_sd_enable":       0x01 << 22,
-    "pwm_dis_reg_stst":         0x01 << 23,
-    "pwm_reg":                  0x0F << 24,
-    "pwm_lim":                  0x0F << 28
-}
-
-Fields["PWM_SCALE"] = {
-    "pwm_scale_sum":            0xff << 0,
-    "pwm_scale_auto":           0x1ff << 16
-}
-
-Fields["IFCNT"] = {
-    "ifcnt":                    0xff
-}
-
-'''
-Fields["SG4_THRS"] = {
-    "sg4_thrs":                 0xff,          
-    "sg4_filt_en":              0x01 << 8,
-    "sg4_angle_offset":         0x01 << 9
-}
-'''
-
-Fields["SGTHRS"] = {
-    "sgthrs":                   0xff,
-    "sg4_filt_en":              0x01 << 8,
-    "sg4_angle_offset":         0x01 << 9
-}
-
-Fields["SG4_RESULT"] = {
-    "sg4_result":               0x3ff << 9
-}
-
-Fields["DRV_CONF"] = {
-    "current_range":            0x03 << 0,
-    "slope_control":            0x03 << 4,
-}
-
-Fields["OTW_OV_VTH"] = {
-        "overtempperwarning_vth":  0x1ff << 16
-}
-
-SignedFields = ["cur_a", "cur_b", "sgt",
-                "pwm_scale_auto"]
-FieldFormatters = dict(tmc2130.FieldFormatters)
-
-######################################################################
-# TMC stepper current config helper
-######################################################################
-
-MAX_CURRENT = 2.000
-
-class TMC2240CurrentHelper:
-    def __init__(self, config, mcu_tmc):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.mcu_tmc = mcu_tmc
-        self.fields = mcu_tmc.get_fields()
-        run_current = config.getfloat('run_current',
-                                      above=0., maxval=MAX_CURRENT)
-        hold_current = config.getfloat('hold_current', MAX_CURRENT,
-                                       above=0., maxval=MAX_CURRENT)
-        self.req_hold_current = hold_current
-        self._set_globalscaler(run_current)
-        irun, ihold = self._calc_current(run_current, hold_current)
-        self.fields.set_field("ihold", ihold)
-        self.fields.set_field("irun", irun)
-        # self.fields.set_field("irun", 31)
-    def _set_globalscaler(self, current):
-        globalscaler = int((current * 256. * math.sqrt(2.)
-                            / 2.0 + .5))
-        globalscaler = max(32, globalscaler)
-        if globalscaler >= 256:
-            globalscaler = 0
-        self.fields.set_field("globalscaler", globalscaler)
-        # self.fields.set_field("globalscaler", 0)
-    def _calc_current_bits(self, current):
-        globalscaler = self.fields.get_field("globalscaler")
-        if not globalscaler:
-            globalscaler = 256
-        cs = int((current * 256. * 32. * math.sqrt(2.)) / (3. * globalscaler) -1. + .5)
-        return max(0, min(31, cs))
-    def _calc_current(self, run_current, hold_current):
-        irun = self._calc_current_bits(run_current)
-        ihold = self._calc_current_bits(min(hold_current, run_current))
-        return irun, ihold
-    def _calc_current_from_field(self, field_name):
-        globalscaler = self.fields.get_field("globalscaler")
-        if not globalscaler:
-            globalscaler = 256
-        bits = self.fields.get_field(field_name)
-        return (globalscaler * (bits + 1) * 0.325
-                / (256. * 32. * math.sqrt(2.)))
-    def get_current(self):
-        run_current = self._calc_current_from_field("irun")
-        hold_current = self._calc_current_from_field("ihold")
-        return run_current, hold_current, self.req_hold_current, MAX_CURRENT
-    def set_current(self, run_current, hold_current, print_time):
-        self.req_hold_current = hold_current
-        irun, ihold = self._calc_current(run_current, hold_current)
-        self.fields.set_field("ihold", ihold)
-        val = self.fields.set_field("irun", irun)
-        # self.printer.command_error("val = %d, print_time = ", val, print_time)
-        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
-
-######################################################################
-# TMC2240 printer object
-######################################################################
-
-class TMC2240:
-    def __init__(self, config):
-        # Setup mcu communication
-        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
-        # self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields, 4)
-        # Setup fields for UART
-        # self.fields.set_field("uart_en", True)
-
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
-        # Register commands
-        current_helper = TMC2240CurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-        # Setup basic register values
-        # tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        tmc.TMC2240StealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        set_config_field = self.fields.set_config_field
-        
-        # set_config_field(config, "en_pwm_mode", 1)
-        set_config_field(config, "reset", 1)
-        set_config_field(config, "drv_err", 1)
-        set_config_field(config, "uv_cp", 1)
-        set_config_field(config, "register_reset", 1)
-        set_config_field(config, "vm_uvlo", 1)
-        # set_config_field(config, "tpwmthrs", 100)
-        # set_config_field(config, "intpol", 0)
-        # set_config_field(config, "dedge", 0)
-        # set_config_field(config, "disfdcc", 1)
-        set_config_field(config, "toff", 3)
-        set_config_field(config, "hstrt", 5)
-        set_config_field(config, "hend", 2)
-        set_config_field(config, "fd3", 0)
-        set_config_field(config, "disfdcc", 0)
-        set_config_field(config, "chm", 0)
-        set_config_field(config, "tbl", 2)
-        set_config_field(config, "vhighfs", 0)
-        set_config_field(config, "vhighchm", 0)
-        set_config_field(config, "tpfd", 4)
-        set_config_field(config, "diss2g", 0)
-        set_config_field(config, "diss2vs", 0)
-        set_config_field(config, "semin", 0)
-        set_config_field(config, "seup", 0)
-        set_config_field(config, "semax", 0)
-        set_config_field(config, "sedn", 0)
-        set_config_field(config, "seimin", 0)
-        set_config_field(config, "sgt", 0)
-        set_config_field(config, "sfilt", 0)
-        set_config_field(config, "iholddelay", 6)
-        set_config_field(config, "pwm_ofs", 30)
-        set_config_field(config, "pwm_grad", 0)
-        set_config_field(config, "pwm_freq", 0)
-        set_config_field(config, "pwm_autoscale", True)
-        set_config_field(config, "pwm_autograd", True)
-        set_config_field(config, "freewheel", 0)
-        set_config_field(config, "pwm_reg", 4)
-        set_config_field(config, "pwm_lim", 12)
-        set_config_field(config, "tpowerdown", 10)
-        set_config_field(config, "current_range", 2)
-        set_config_field(config, "overtempperwarning_vth", 0x1ff)
-
-
-def load_config_prefix(config):
-    return TMC2240(config)
+# TMC2240 configuration
+#
+# Copyright (C) 2018-2023  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2023  Alex Voinea <voinea.dragos.alexandru@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+from . import bus, tmc, tmc2130, tmc_uart
+
+TMC_FREQUENCY=12500000.
+
+Registers = {
+    "GCONF":            0x00,
+    "GSTAT":            0x01,
+    "IFCNT":            0x02,
+    "NODECONF":         0x03,
+    "IOIN":             0x04,
+    "DRV_CONF":         0x0A,
+    "GLOBALSCALER":     0x0B,
+    "IHOLD_IRUN":       0x10,
+    "TPOWERDOWN":       0x11,
+    "TSTEP":            0x12,
+    "TPWMTHRS":         0x13,
+    "TCOOLTHRS":        0x14,
+    "THIGH":            0x15,
+    "DIRECT_MODE":      0x2D,
+    "ENCMODE":          0x38,
+    "X_ENC":            0x39,
+    "ENC_CONST":        0x3A,
+    "ENC_STATUS":       0x3B,
+    "ENC_LATCH":        0x3C,
+    "ADC_VSUPPLY_AIN":  0x50,
+    "ADC_TEMP":         0x51,
+    "OTW_OV_VTH":       0x52,
+    "MSLUT0":           0x60,
+    "MSLUT1":           0x61,
+    "MSLUT2":           0x62,
+    "MSLUT3":           0x63,
+    "MSLUT4":           0x64,
+    "MSLUT5":           0x65,
+    "MSLUT6":           0x66,
+    "MSLUT7":           0x67,
+    "MSLUTSEL":         0x68,
+    "MSLUTSTART":       0x69,
+    "MSCNT":            0x6A,
+    "MSCURACT":         0x6B,
+    "CHOPCONF":         0x6C,
+    "COOLCONF":         0x6D,
+    "DRV_STATUS":       0x6F,
+    "PWMCONF":          0x70,
+    "PWM_SCALE":        0x71,
+    "PWM_AUTO":         0x72,
+    "SG4_THRS":         0x74,
+    "SG4_RESULT":       0x75,
+    "SG4_IND":          0x76,
+}
+
+ReadRegisters = [
+    "GCONF", "GSTAT", "IOIN", "DRV_CONF", "GLOBALSCALER", "IHOLD_IRUN",
+    "TPOWERDOWN", "TSTEP", "TPWMTHRS", "TCOOLTHRS", "THIGH", "ADC_VSUPPLY_AIN",
+    "ADC_TEMP", "MSCNT", "MSCURACT", "CHOPCONF", "COOLCONF", "DRV_STATUS",
+    "PWMCONF", "PWM_SCALE", "PWM_AUTO", "SG4_THRS", "SG4_RESULT", "SG4_IND"
+]
+
+Fields = {}
+Fields["COOLCONF"] = {
+    "semin":                    0x0F << 0,
+    "seup":                     0x03 << 5,
+    "semax":                    0x0F << 8,
+    "sedn":                     0x03 << 13,
+    "seimin":                   0x01 << 15,
+    "sgt":                      0x7F << 16,
+    "sfilt":                    0x01 << 24
+}
+Fields["CHOPCONF"] = {
+    "toff":                     0x0F << 0,
+    "hstrt":                    0x07 << 4,
+    "hend":                     0x0F << 7,
+    "fd3":                      0x01 << 11,
+    "disfdcc":                  0x01 << 12,
+    "chm":                      0x01 << 14,
+    "tbl":                      0x03 << 15,
+    "vhighfs":                  0x01 << 18,
+    "vhighchm":                 0x01 << 19,
+    "tpfd":                     0x0F << 20, # midrange resonances
+    "mres":                     0x0F << 24,
+    "intpol":                   0x01 << 28,
+    "dedge":                    0x01 << 29,
+    "diss2g":                   0x01 << 30,
+    "diss2vs":                  0x01 << 31
+}
+Fields["DRV_STATUS"] = {
+    "sg_result":                0x3FF << 0,
+    "s2vsa":                    0x01 << 12,
+    "s2vsb":                    0x01 << 13,
+    "stealth":                  0x01 << 14,
+    "fsactive":                 0x01 << 15,
+    "csactual":                 0x1F << 16,
+    "stallguard":               0x01 << 24,
+    "ot":                       0x01 << 25,
+    "otpw":                     0x01 << 26,
+    "s2ga":                     0x01 << 27,
+    "s2gb":                     0x01 << 28,
+    "ola":                      0x01 << 29,
+    "olb":                      0x01 << 30,
+    "stst":                     0x01 << 31
+}
+Fields["GCONF"] = {
+    "faststandstill":           0x01 << 1,
+    "en_pwm_mode":              0x01 << 2,
+    "multistep_filt":           0x01 << 3,
+    "shaft":                    0x01 << 4,
+    "diag0_error":              0x01 << 5,
+    "diag0_otpw":               0x01 << 6,
+    "diag0_stall":              0x01 << 7,
+    "diag1_stall":              0x01 << 8,
+    "diag1_index":              0x01 << 9,
+    "diag1_onstate":            0x01 << 10,
+    "diag0_pushpull":           0x01 << 12,
+    "diag1_pushpull":           0x01 << 13,
+    "small_hysteresis":         0x01 << 14,
+    "stop_enable":              0x01 << 15,
+    "direct_mode":              0x01 << 16
+}
+Fields["GSTAT"] = {
+    "reset":                    0x01 << 0,
+    "drv_err":                  0x01 << 1,
+    "uv_cp":                    0x01 << 2,
+    "register_reset":           0x01 << 3,
+    "vm_uvlo":                  0x01 << 4
+}
+Fields["GLOBALSCALER"] = {
+    "globalscaler":             0xFF << 0
+}
+Fields["IHOLD_IRUN"] = {
+    "ihold":                    0x1F << 0,
+    "irun":                     0x1F << 8,
+    "iholddelay":               0x0F << 16,
+    "irundelay":                0x0F << 24
+}
+Fields["IOIN"] = {
+    "step":                     0x01 << 0,
+    "dir":                      0x01 << 1,
+    "encb":                     0x01 << 2,
+    "enca":                     0x01 << 3,
+    "drv_enn":                  0x01 << 4,
+    "encn":                     0x01 << 5,
+    "uart_en":                  0x01 << 6,
+    "comp_a":                   0x01 << 8,
+    "comp_b":                   0x01 << 9,
+    "comp_a1_a2":               0x01 << 10,
+    "comp_b1_b2":               0x01 << 11,
+    "output":                   0x01 << 12,
+    "ext_res_det":              0x01 << 13,
+    "ext_clk":                  0x01 << 14,
+    "adc_err":                  0x01 << 15,
+    "silicon_rv":               0x07 << 16,
+    "version":                  0xFF << 24
+}
+Fields["MSLUT0"] = { "mslut0": 0xffffffff }
+Fields["MSLUT1"] = { "mslut1": 0xffffffff }
+Fields["MSLUT2"] = { "mslut2": 0xffffffff }
+Fields["MSLUT3"] = { "mslut3": 0xffffffff }
+Fields["MSLUT4"] = { "mslut4": 0xffffffff }
+Fields["MSLUT5"] = { "mslut5": 0xffffffff }
+Fields["MSLUT6"] = { "mslut6": 0xffffffff }
+Fields["MSLUT7"] = { "mslut7": 0xffffffff }
+Fields["MSLUTSEL"] = {
+    "x3":                       0xFF << 24,
+    "x2":                       0xFF << 16,
+    "x1":                       0xFF << 8,
+    "w3":                       0x03 << 6,
+    "w2":                       0x03 << 4,
+    "w1":                       0x03 << 2,
+    "w0":                       0x03 << 0,
+}
+Fields["MSLUTSTART"] = {
+    "start_sin":                0xFF << 0,
+    "start_sin90":              0xFF << 16,
+    "offset_sin90":             0xFF << 24,
+}
+Fields["MSCNT"] = {
+    "mscnt":                    0x3ff << 0
+}
+Fields["MSCURACT"] = {
+    "cur_a":                    0x1ff << 0,
+    "cur_b":                    0x1ff << 16
+}
+Fields["PWM_AUTO"] = {
+    "pwm_ofs_auto":             0xff << 0,
+    "pwm_grad_auto":            0xff << 16
+}
+Fields["PWMCONF"] = {
+    "pwm_ofs":                  0xFF << 0,
+    "pwm_grad":                 0xFF << 8,
+    "pwm_freq":                 0x03 << 16,
+    "pwm_autoscale":            0x01 << 18,
+    "pwm_autograd":             0x01 << 19,
+    "freewheel":                0x03 << 20,
+    "pwm_meas_sd_enable":       0x01 << 22,
+    "pwm_dis_reg_stst":         0x01 << 23,
+    "pwm_reg":                  0x0F << 24,
+    "pwm_lim":                  0x0F << 28
+}
+Fields["PWM_SCALE"] = {
+    "pwm_scale_sum":            0x3ff << 0,
+    "pwm_scale_auto":           0x1ff << 16
+}
+Fields["TPOWERDOWN"] = {
+    "tpowerdown":               0xff << 0
+}
+Fields["TPWMTHRS"] = {
+    "tpwmthrs":                 0xfffff << 0
+}
+Fields["TCOOLTHRS"] = {
+    "tcoolthrs":                0xfffff << 0
+}
+Fields["TSTEP"] = {
+    "tstep":                    0xfffff << 0
+}
+Fields["THIGH"] = {
+    "thigh":                    0xfffff << 0
+}
+Fields["DRV_CONF"] = {
+    "current_range":            0x03 << 0,
+    "slope_control":            0x03 << 4
+}
+Fields["ADC_VSUPPLY_AIN"] = {
+    "adc_vsupply":              0x1fff << 0,
+    "adc_ain":                  0x1fff << 16
+}
+Fields["ADC_TEMP"] = {
+    "adc_temp":                 0x1fff << 0
+}
+Fields["OTW_OV_VTH"] = {
+    "overvoltage_vth":          0x1fff << 0,
+    "overtempprewarning_vth":   0x1fff << 16
+}
+Fields["SG4_THRS"] = {
+    "sg4_thrs":                 0xFF << 0,
+    "sg4_filt_en":              0x01 << 8,
+    "sg4_angle_offset":         0x01 << 9
+}
+Fields["SG4_RESULT"] = {
+    "sg4_result":               0x3FF << 0
+}
+Fields["SG4_IND"] = {
+    "sg4_ind_0":                0xFF << 0,
+    "sg4_ind_1":                0xFF << 8,
+    "sg4_ind_2":                0xFF << 16,
+    "sg4_ind_3":                0xFF << 24
+}
+
+
+SignedFields = ["cur_a", "cur_b", "sgt", "pwm_scale_auto", "offset_sin90"]
+
+FieldFormatters = dict(tmc2130.FieldFormatters)
+FieldFormatters.update({
+    "s2vsa":            (lambda v: "1(ShortToSupply_A!)" if v else ""),
+    "s2vsb":            (lambda v: "1(ShortToSupply_B!)" if v else ""),
+    "adc_temp":         (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
+})
+
+
+######################################################################
+# TMC stepper current config helper
+######################################################################
+
+class TMC2240CurrentHelper:
+    def __init__(self, config, mcu_tmc):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.mcu_tmc = mcu_tmc
+        self.fields = mcu_tmc.get_fields()
+        self.Rref = config.getfloat('rref', 12000.,
+                                    minval=12000., maxval=60000.)
+        max_cur = self._get_ifs_rms(3)
+        run_current = config.getfloat('run_current', above=0., maxval=max_cur)
+        hold_current = config.getfloat('hold_current', max_cur,
+                                       above=0., maxval=max_cur)
+        self.req_hold_current = hold_current
+        current_range = self._calc_current_range(run_current)
+        self.fields.set_field("current_range", current_range)
+        gscaler, irun, ihold = self._calc_current(run_current, hold_current)
+        self.fields.set_field("globalscaler", gscaler)
+        self.fields.set_field("ihold", ihold)
+        self.fields.set_field("irun", irun)
+    def _get_ifs_rms(self, current_range=None):
+        if current_range is None:
+            current_range = self.fields.get_field("current_range")
+        KIFS = [11750., 24000., 36000., 36000.]
+        return (KIFS[current_range] / self.Rref) / math.sqrt(2.)
+    def _calc_current_range(self, current):
+        for current_range in range(4):
+            if current <= self._get_ifs_rms(current_range):
+                break
+        return current_range
+    def _calc_globalscaler(self, current):
+        ifs_rms = self._get_ifs_rms()
+        globalscaler = int(((current * 256.) / ifs_rms) + .5)
+        globalscaler = max(32, globalscaler)
+        if globalscaler >= 256:
+            globalscaler = 0
+        return globalscaler
+    def _calc_current_bits(self, current, globalscaler):
+        ifs_rms = self._get_ifs_rms()
+        if not globalscaler:
+            globalscaler = 256
+        cs = int((current * 256. * 32.) / (globalscaler * ifs_rms) - 1. + .5)
+        return max(0, min(31, cs))
+    def _calc_current(self, run_current, hold_current):
+        gscaler = self._calc_globalscaler(run_current)
+        irun = self._calc_current_bits(run_current, gscaler)
+        ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
+        return gscaler, irun, ihold
+    def _calc_current_from_field(self, field_name):
+        ifs_rms = self._get_ifs_rms()
+        globalscaler = self.fields.get_field("globalscaler")
+        if not globalscaler:
+            globalscaler = 256
+        bits = self.fields.get_field(field_name)
+        return globalscaler * (bits + 1) * ifs_rms / (256. * 32.)
+    def get_current(self):
+        ifs_rms = self._get_ifs_rms()
+        run_current = self._calc_current_from_field("irun")
+        hold_current = self._calc_current_from_field("ihold")
+        return (run_current, hold_current, self.req_hold_current, ifs_rms)
+    def set_current(self, run_current, hold_current, print_time):
+        self.req_hold_current = hold_current
+        gscaler, irun, ihold = self._calc_current(run_current, hold_current)
+        val = self.fields.set_field("globalscaler", gscaler)
+        self.mcu_tmc.set_register("GLOBALSCALER", val, print_time)
+        self.fields.set_field("ihold", ihold)
+        val = self.fields.set_field("irun", irun)
+        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
+
+
+######################################################################
+# TMC2240 printer object
+######################################################################
+
+class TMC2240:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
+        if config.get("uart_pin", None) is not None:
+            # use UART for communication
+            self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields,
+                                                 3, TMC_FREQUENCY)
+        else:
+            # Use SPI bus for communication
+            self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
+                                               TMC_FREQUENCY)
+        # Allow virtual pins to be created
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
+        # Register commands
+        current_helper = TMC2240CurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+        # Setup basic register values
+        tmc.TMCWaveTableHelper(config, self.mcu_tmc)
+        self.fields.set_config_field(config, "offset_sin90", 0)
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        set_config_field = self.fields.set_config_field
+        #   GCONF
+        set_config_field(config, "multistep_filt", True)
+        #   CHOPCONF
+        set_config_field(config, "toff", 3)
+        set_config_field(config, "hstrt", 5)
+        set_config_field(config, "hend", 2)
+        set_config_field(config, "fd3", 0)
+        set_config_field(config, "disfdcc", 0)
+        set_config_field(config, "chm", 0)
+        set_config_field(config, "tbl", 2)
+        set_config_field(config, "vhighfs", 0)
+        set_config_field(config, "vhighchm", 0)
+        set_config_field(config, "tpfd", 4)
+        set_config_field(config, "diss2g", 0)
+        set_config_field(config, "diss2vs", 0)
+        #   COOLCONF
+        set_config_field(config, "semin", 0)
+        set_config_field(config, "seup", 0)
+        set_config_field(config, "semax", 0)
+        set_config_field(config, "sedn", 0)
+        set_config_field(config, "seimin", 0)
+        set_config_field(config, "sgt", 0)
+        set_config_field(config, "sfilt", 0)
+        #   IHOLDIRUN
+        set_config_field(config, "iholddelay", 6)
+        set_config_field(config, "irundelay", 4)
+        #   PWMCONF
+        set_config_field(config, "pwm_ofs", 29)
+        set_config_field(config, "pwm_grad", 0)
+        set_config_field(config, "pwm_freq", 0)
+        set_config_field(config, "pwm_autoscale", True)
+        set_config_field(config, "pwm_autograd", True)
+        set_config_field(config, "freewheel", 0)
+        set_config_field(config, "pwm_reg", 4)
+        set_config_field(config, "pwm_lim", 12)
+        #   TPOWERDOWN
+        set_config_field(config, "tpowerdown", 10)
+        #   SG4_THRS
+        set_config_field(config, "sg4_angle_offset", 1)
+
+def load_config_prefix(config):
+    return TMC2240(config)

klippy/extras/tmc2660.py

@@ -1,274 +1,276 @@
-# TMC2660 configuration
-#
-# Copyright (C) 2018-2019  Florian Heilmann <Florian.Heilmann@gmx.net>
-# Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging
-from . import bus, tmc, tmc2130
-
-Registers = {
-    "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
-    "CHOPCONF": 0x8, "DRVCTRL": 0x0
-}
-
-ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
-
-Fields = {}
-
-Fields["DRVCTRL"] = {
-    "mres": 0x0f,
-    "dedge": 0x01 << 8,
-    "intpol": 0x01 << 9,
-}
-
-Fields["CHOPCONF"] = {
-    "toff": 0x0f,
-    "hstrt": 0x7 << 4,
-    "hend": 0x0f << 7,
-    "hdec": 0x03 << 11,
-    "rndtf": 0x01 << 13,
-    "chm": 0x01 << 14,
-    "tbl": 0x03 << 15
-}
-
-Fields["SMARTEN"] = {
-    "semin" : 0x0f,
-    "seup": 0x03 << 5,
-    "semax": 0x0f << 8,
-    "sedn": 0x03 << 13,
-    "seimin": 0x01 << 15
-}
-
-Fields["SGCSCONF"] = {
-    "cs": 0x1f,
-    "sgt": 0x7F << 8,
-    "sfilt": 0x01 << 16
-}
-
-Fields["DRVCONF"] = {
-    "rdsel": 0x03 << 4,
-    "vsense": 0x01 << 6,
-    "sdoff": 0x01 << 7,
-    "ts2g": 0x03 << 8,
-    "diss2g": 0x01 << 10,
-    "slpl": 0x03 << 12,
-    "slph": 0x03 << 14,
-    "tst": 0x01 << 16
-}
-
-Fields["READRSP@RDSEL0"] = {
-    "stallguard": 0x01 << 4,
-    "ot": 0x01 << 5,
-    "otpw": 0x01 << 6,
-    "s2ga": 0x01 << 7,
-    "s2gb": 0x01 << 8,
-    "ola": 0x01 << 9,
-    "olb": 0x01 << 10,
-    "stst": 0x01 << 11,
-    "mstep": 0x3ff << 14
-}
-
-Fields["READRSP@RDSEL1"] = {
-    "stallguard": 0x01 << 4,
-    "ot": 0x01 << 5,
-    "otpw": 0x01 << 6,
-    "s2ga": 0x01 << 7,
-    "s2gb": 0x01 << 8,
-    "ola": 0x01 << 9,
-    "olb": 0x01 << 10,
-    "stst": 0x01 << 11,
-    "sg_result": 0x3ff << 14
-}
-
-Fields["READRSP@RDSEL2"] = {
-    "stallguard": 0x01 << 4,
-    "ot": 0x01 << 5,
-    "otpw": 0x01 << 6,
-    "s2ga": 0x01 << 7,
-    "s2gb": 0x01 << 8,
-    "ola": 0x01 << 9,
-    "olb": 0x01 << 10,
-    "stst": 0x01 << 11,
-    "se": 0x1f << 14,
-    "sg_result@rdsel2": 0x1f << 19
-}
-
-SignedFields = ["sgt"]
-
-FieldFormatters = dict(tmc2130.FieldFormatters)
-FieldFormatters.update({
-    "chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
-    "vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
-    "sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),
-    "diss2g": (lambda v: "1(Short to GND disabled!)" if v else ""),
-    "se": (lambda v: ("%d" % v) if v else "0(Reset?)"),
-})
-
-
-######################################################################
-# TMC stepper current config helper
-######################################################################
-
-MAX_CURRENT = 2.400
-
-class TMC2660CurrentHelper:
-    def __init__(self, config, mcu_tmc):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.mcu_tmc = mcu_tmc
-        self.fields = mcu_tmc.get_fields()
-        self.current = config.getfloat('run_current', minval=0.1,
-                                       maxval=MAX_CURRENT)
-        self.sense_resistor = config.getfloat('sense_resistor')
-        vsense, cs = self._calc_current(self.current)
-        self.fields.set_field("cs", cs)
-        self.fields.set_field("vsense", vsense)
-
-        # Register ready/printing handlers
-        self.idle_current_percentage = config.getint(
-            'idle_current_percent', default=100, minval=0, maxval=100)
-        if self.idle_current_percentage < 100:
-            self.printer.register_event_handler("idle_timeout:printing",
-                                                self._handle_printing)
-            self.printer.register_event_handler("idle_timeout:ready",
-                                                self._handle_ready)
-
-    def _calc_current_bits(self, current, vsense):
-        vref = 0.165 if vsense else 0.310
-        sr = self.sense_resistor
-        cs = int(32. * sr * current * math.sqrt(2.) / vref + .5) - 1
-        return max(0, min(31, cs))
-
-    def _calc_current_from_bits(self, cs, vsense):
-        vref = 0.165 if vsense else 0.310
-        return (cs + 1) * vref / (32. * self.sense_resistor * math.sqrt(2.))
-
-    def _calc_current(self, run_current):
-        vsense = True
-        irun = self._calc_current_bits(run_current, True)
-        if irun == 31:
-            cur = self._calc_current_from_bits(irun, True)
-            if cur < run_current:
-                irun2 = self._calc_current_bits(run_current, False)
-                cur2 = self._calc_current_from_bits(irun2, False)
-                if abs(run_current - cur2) < abs(run_current - cur):
-                    vsense = False
-                    irun = irun2
-        return vsense, irun
-
-    def _handle_printing(self, print_time):
-        print_time -= 0.100 # Schedule slightly before deadline
-        self.printer.get_reactor().register_callback(
-            (lambda ev: self._update_current(self.current, print_time)))
-
-    def _handle_ready(self, print_time):
-        current = self.current * float(self.idle_current_percentage) / 100.
-        self.printer.get_reactor().register_callback(
-            (lambda ev: self._update_current(current, print_time)))
-
-    def _update_current(self, current, print_time):
-        vsense, cs = self._calc_current(current)
-        val = self.fields.set_field("cs", cs)
-        self.mcu_tmc.set_register("SGCSCONF", val, print_time)
-        # Only update VSENSE if we need to
-        if vsense != self.fields.get_field("vsense"):
-            val = self.fields.set_field("vsense", vsense)
-            self.mcu_tmc.set_register("DRVCONF", val, print_time)
-
-    def get_current(self):
-        return self.current, None, None, MAX_CURRENT
-
-    def set_current(self, run_current, hold_current, print_time):
-        self.current = run_current
-        self._update_current(run_current, print_time)
-
-
-######################################################################
-# TMC2660 SPI
-######################################################################
-
-# Helper code for working with TMC2660 devices via SPI
-class MCU_TMC2660_SPI:
-    def __init__(self, config, name_to_reg, fields):
-        self.printer = config.get_printer()
-        self.mutex = self.printer.get_reactor().mutex()
-        self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
-        self.name_to_reg = name_to_reg
-        self.fields = fields
-    def get_fields(self):
-        return self.fields
-    def get_register(self, reg_name):
-        new_rdsel = ReadRegisters.index(reg_name)
-        reg = self.name_to_reg["DRVCONF"]
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            return 0
-        with self.mutex:
-            old_rdsel = self.fields.get_field("rdsel")
-            val = self.fields.set_field("rdsel", new_rdsel)
-            msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
-            if new_rdsel != old_rdsel:
-                # Must set RDSEL value first
-                self.spi.spi_send(msg)
-            params = self.spi.spi_transfer(msg)
-        pr = bytearray(params['response'])
-        return (pr[0] << 16) | (pr[1] << 8) | pr[2]
-    def set_register(self, reg_name, val, print_time=None):
-        minclock = 0
-        if print_time is not None:
-            minclock = self.spi.get_mcu().print_time_to_clock(print_time)
-        reg = self.name_to_reg[reg_name]
-        msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
-        with self.mutex:
-            self.spi.spi_send(msg, minclock)
-
-
-######################################################################
-# TMC2660 printer object
-######################################################################
-
-class TMC2660:
-    def __init__(self, config):
-        # Setup mcu communication
-        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)
-        # Register commands
-        current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-
-        # CHOPCONF
-        set_config_field = self.fields.set_config_field
-        set_config_field(config, "tbl", 2)
-        set_config_field(config, "rndtf", 0)
-        set_config_field(config, "hdec", 0)
-        set_config_field(config, "chm", 0)
-        set_config_field(config, "hend", 3)
-        set_config_field(config, "hstrt", 3)
-        set_config_field(config, "toff", 4)
-        if not self.fields.get_field("chm"):
-            if (self.fields.get_field("hstrt") +
-                self.fields.get_field("hend")) > 15:
-                raise config.error("driver_HEND + driver_HSTRT must be <= 15")
-        # SMARTEN
-        set_config_field(config, "seimin", 0)
-        set_config_field(config, "sedn", 0)
-        set_config_field(config, "semax", 0)
-        set_config_field(config, "seup", 0)
-        set_config_field(config, "semin", 0)
-
-        # SGSCONF
-        set_config_field(config, "sfilt", 0)
-        set_config_field(config, "sgt", 0)
-
-        # DRVCONF
-        set_config_field(config, "slph", 0)
-        set_config_field(config, "slpl", 0)
-        set_config_field(config, "diss2g", 0)
-        set_config_field(config, "ts2g", 3)
-
-def load_config_prefix(config):
-    return TMC2660(config)
+# TMC2660 configuration
+#
+# Copyright (C) 2018-2019  Florian Heilmann <Florian.Heilmann@gmx.net>
+# Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+from . import bus, tmc, tmc2130
+
+Registers = {
+    "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA,
+    "CHOPCONF": 0x8, "DRVCTRL": 0x0
+}
+
+ReadRegisters = [ "READRSP@RDSEL0", "READRSP@RDSEL1", "READRSP@RDSEL2" ]
+
+Fields = {}
+
+Fields["DRVCTRL"] = {
+    "mres": 0x0f,
+    "dedge": 0x01 << 8,
+    "intpol": 0x01 << 9,
+}
+
+Fields["CHOPCONF"] = {
+    "toff": 0x0f,
+    "hstrt": 0x7 << 4,
+    "hend": 0x0f << 7,
+    "hdec": 0x03 << 11,
+    "rndtf": 0x01 << 13,
+    "chm": 0x01 << 14,
+    "tbl": 0x03 << 15
+}
+
+Fields["SMARTEN"] = {
+    "semin" : 0x0f,
+    "seup": 0x03 << 5,
+    "semax": 0x0f << 8,
+    "sedn": 0x03 << 13,
+    "seimin": 0x01 << 15
+}
+
+Fields["SGCSCONF"] = {
+    "cs": 0x1f,
+    "sgt": 0x7F << 8,
+    "sfilt": 0x01 << 16
+}
+
+Fields["DRVCONF"] = {
+    "rdsel": 0x03 << 4,
+    "vsense": 0x01 << 6,
+    "sdoff": 0x01 << 7,
+    "ts2g": 0x03 << 8,
+    "diss2g": 0x01 << 10,
+    "slpl": 0x03 << 12,
+    "slph": 0x03 << 14,
+    "tst": 0x01 << 16
+}
+
+Fields["READRSP@RDSEL0"] = {
+    "stallguard": 0x01 << 4,
+    "ot": 0x01 << 5,
+    "otpw": 0x01 << 6,
+    "s2ga": 0x01 << 7,
+    "s2gb": 0x01 << 8,
+    "ola": 0x01 << 9,
+    "olb": 0x01 << 10,
+    "stst": 0x01 << 11,
+    "mstep": 0x3ff << 14
+}
+
+Fields["READRSP@RDSEL1"] = {
+    "stallguard": 0x01 << 4,
+    "ot": 0x01 << 5,
+    "otpw": 0x01 << 6,
+    "s2ga": 0x01 << 7,
+    "s2gb": 0x01 << 8,
+    "ola": 0x01 << 9,
+    "olb": 0x01 << 10,
+    "stst": 0x01 << 11,
+    "sg_result": 0x3ff << 14
+}
+
+Fields["READRSP@RDSEL2"] = {
+    "stallguard": 0x01 << 4,
+    "ot": 0x01 << 5,
+    "otpw": 0x01 << 6,
+    "s2ga": 0x01 << 7,
+    "s2gb": 0x01 << 8,
+    "ola": 0x01 << 9,
+    "olb": 0x01 << 10,
+    "stst": 0x01 << 11,
+    "se": 0x1f << 14,
+    "sg_result@rdsel2": 0x1f << 19
+}
+
+SignedFields = ["sgt"]
+
+FieldFormatters = dict(tmc2130.FieldFormatters)
+FieldFormatters.update({
+    "chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
+    "vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
+    "sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),
+    "diss2g": (lambda v: "1(Short to GND disabled!)" if v else ""),
+    "se": (lambda v: ("%d" % v) if v else "0(Reset?)"),
+})
+
+
+######################################################################
+# TMC stepper current config helper
+######################################################################
+
+MAX_CURRENT = 2.400
+
+class TMC2660CurrentHelper:
+    def __init__(self, config, mcu_tmc):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.mcu_tmc = mcu_tmc
+        self.fields = mcu_tmc.get_fields()
+        self.current = config.getfloat('run_current', minval=0.1,
+                                       maxval=MAX_CURRENT)
+        self.sense_resistor = config.getfloat('sense_resistor')
+        vsense, cs = self._calc_current(self.current)
+        self.fields.set_field("cs", cs)
+        self.fields.set_field("vsense", vsense)
+
+        # Register ready/printing handlers
+        self.idle_current_percentage = config.getint(
+            'idle_current_percent', default=100, minval=0, maxval=100)
+        if self.idle_current_percentage < 100:
+            self.printer.register_event_handler("idle_timeout:printing",
+                                                self._handle_printing)
+            self.printer.register_event_handler("idle_timeout:ready",
+                                                self._handle_ready)
+
+    def _calc_current_bits(self, current, vsense):
+        vref = 0.165 if vsense else 0.310
+        sr = self.sense_resistor
+        cs = int(32. * sr * current * math.sqrt(2.) / vref + .5) - 1
+        return max(0, min(31, cs))
+
+    def _calc_current_from_bits(self, cs, vsense):
+        vref = 0.165 if vsense else 0.310
+        return (cs + 1) * vref / (32. * self.sense_resistor * math.sqrt(2.))
+
+    def _calc_current(self, run_current):
+        vsense = True
+        irun = self._calc_current_bits(run_current, True)
+        if irun == 31:
+            cur = self._calc_current_from_bits(irun, True)
+            if cur < run_current:
+                irun2 = self._calc_current_bits(run_current, False)
+                cur2 = self._calc_current_from_bits(irun2, False)
+                if abs(run_current - cur2) < abs(run_current - cur):
+                    vsense = False
+                    irun = irun2
+        return vsense, irun
+
+    def _handle_printing(self, print_time):
+        print_time -= 0.100 # Schedule slightly before deadline
+        self.printer.get_reactor().register_callback(
+            (lambda ev: self._update_current(self.current, print_time)))
+
+    def _handle_ready(self, print_time):
+        current = self.current * float(self.idle_current_percentage) / 100.
+        self.printer.get_reactor().register_callback(
+            (lambda ev: self._update_current(current, print_time)))
+
+    def _update_current(self, current, print_time):
+        vsense, cs = self._calc_current(current)
+        val = self.fields.set_field("cs", cs)
+        self.mcu_tmc.set_register("SGCSCONF", val, print_time)
+        # Only update VSENSE if we need to
+        if vsense != self.fields.get_field("vsense"):
+            val = self.fields.set_field("vsense", vsense)
+            self.mcu_tmc.set_register("DRVCONF", val, print_time)
+
+    def get_current(self):
+        return self.current, None, None, MAX_CURRENT
+
+    def set_current(self, run_current, hold_current, print_time):
+        self.current = run_current
+        self._update_current(run_current, print_time)
+
+
+######################################################################
+# TMC2660 SPI
+######################################################################
+
+# Helper code for working with TMC2660 devices via SPI
+class MCU_TMC2660_SPI:
+    def __init__(self, config, name_to_reg, fields):
+        self.printer = config.get_printer()
+        self.mutex = self.printer.get_reactor().mutex()
+        self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
+        self.name_to_reg = name_to_reg
+        self.fields = fields
+    def get_fields(self):
+        return self.fields
+    def get_register(self, reg_name):
+        new_rdsel = ReadRegisters.index(reg_name)
+        reg = self.name_to_reg["DRVCONF"]
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
+        with self.mutex:
+            old_rdsel = self.fields.get_field("rdsel")
+            val = self.fields.set_field("rdsel", new_rdsel)
+            msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
+            if new_rdsel != old_rdsel:
+                # Must set RDSEL value first
+                self.spi.spi_send(msg)
+            params = self.spi.spi_transfer(msg)
+        pr = bytearray(params['response'])
+        return (pr[0] << 16) | (pr[1] << 8) | pr[2]
+    def set_register(self, reg_name, val, print_time=None):
+        minclock = 0
+        if print_time is not None:
+            minclock = self.spi.get_mcu().print_time_to_clock(print_time)
+        reg = self.name_to_reg[reg_name]
+        msg = [((val >> 16) | reg) & 0xff, (val >> 8) & 0xff, val & 0xff]
+        with self.mutex:
+            self.spi.spi_send(msg, minclock)
+    def get_tmc_frequency(self):
+        return None
+
+
+######################################################################
+# TMC2660 printer object
+######################################################################
+
+class TMC2660:
+    def __init__(self, config):
+        # Setup mcu communication
+        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)
+        # Register commands
+        current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+
+        # CHOPCONF
+        set_config_field = self.fields.set_config_field
+        set_config_field(config, "tbl", 2)
+        set_config_field(config, "rndtf", 0)
+        set_config_field(config, "hdec", 0)
+        set_config_field(config, "chm", 0)
+        set_config_field(config, "hend", 3)
+        set_config_field(config, "hstrt", 3)
+        set_config_field(config, "toff", 4)
+        if not self.fields.get_field("chm"):
+            if (self.fields.get_field("hstrt") +
+                self.fields.get_field("hend")) > 15:
+                raise config.error("driver_HEND + driver_HSTRT must be <= 15")
+        # SMARTEN
+        set_config_field(config, "seimin", 0)
+        set_config_field(config, "sedn", 0)
+        set_config_field(config, "semax", 0)
+        set_config_field(config, "seup", 0)
+        set_config_field(config, "semin", 0)
+
+        # SGSCONF
+        set_config_field(config, "sfilt", 0)
+        set_config_field(config, "sgt", 0)
+
+        # DRVCONF
+        set_config_field(config, "slph", 0)
+        set_config_field(config, "slpl", 0)
+        set_config_field(config, "diss2g", 0)
+        set_config_field(config, "ts2g", 3)
+
+def load_config_prefix(config):
+    return TMC2660(config)

klippy/extras/tmc5160.py

@@ -1,340 +1,383 @@
-# TMC5160 configuration
-#
-# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging
-from . import bus, tmc, tmc2130
-
-TMC_FREQUENCY=12000000.
-
-Registers = {
-    "GCONF":            0x00,
-    "GSTAT":            0x01,
-    "IFCNT":            0x02,
-    "SLAVECONF":        0x03,
-    "IOIN":             0x04,
-    "X_COMPARE":        0x05,
-    "OTP_READ":         0x07,
-    "FACTORY_CONF":     0x08,
-    "SHORT_CONF":       0x09,
-    "DRV_CONF":         0x0A,
-    "GLOBALSCALER":     0x0B,
-    "OFFSET_READ":      0x0C,
-    "IHOLD_IRUN":       0x10,
-    "TPOWERDOWN":       0x11,
-    "TSTEP":            0x12,
-    "TPWMTHRS":         0x13,
-    "TCOOLTHRS":        0x14,
-    "THIGH":            0x15,
-    "RAMPMODE":         0x20,
-    "XACTUAL":          0x21,
-    "VACTUAL":          0x22,
-    "VSTART":           0x23,
-    "A1":               0x24,
-    "V1":               0x25,
-    "AMAX":             0x26,
-    "VMAX":             0x27,
-    "DMAX":             0x28,
-    "D1":               0x2A,
-    "VSTOP":            0x2B,
-    "TZEROWAIT":        0x2C,
-    "XTARGET":          0x2D,
-    "VDCMIN":           0x33,
-    "SW_MODE":          0x34,
-    "RAMP_STAT":        0x35,
-    "XLATCH":           0x36,
-    "ENCMODE":          0x38,
-    "X_ENC":            0x39,
-    "ENC_CONST":        0x3A,
-    "ENC_STATUS":       0x3B,
-    "ENC_LATCH":        0x3C,
-    "ENC_DEVIATION":    0x3D,
-    "MSLUT0":           0x60,
-    "MSLUT1":           0x61,
-    "MSLUT2":           0x62,
-    "MSLUT3":           0x63,
-    "MSLUT4":           0x64,
-    "MSLUT5":           0x65,
-    "MSLUT6":           0x66,
-    "MSLUT7":           0x67,
-    "MSLUTSEL":         0x68,
-    "MSLUTSTART":       0x69,
-    "MSCNT":            0x6A,
-    "MSCURACT":         0x6B,
-    "CHOPCONF":         0x6C,
-    "COOLCONF":         0x6D,
-    "DCCTRL":           0x6E,
-    "DRV_STATUS":       0x6F,
-    "PWMCONF":          0x70,
-    "PWM_SCALE":        0x71,
-    "PWM_AUTO":         0x72,
-    "LOST_STEPS":       0x73,
-}
-
-ReadRegisters = [
-    "GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
-    "LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWM_SCALE",
-    "PWM_AUTO", "TSTEP"
-]
-
-Fields = {}
-Fields["COOLCONF"] = {
-    "semin":                    0x0F << 0,
-    "seup":                     0x03 << 5,
-    "semax":                    0x0F << 8,
-    "sedn":                     0x03 << 13,
-    "seimin":                   0x01 << 15,
-    "sgt":                      0x7F << 16,
-    "sfilt":                    0x01 << 24
-}
-Fields["CHOPCONF"] = {
-    "toff":                     0x0F << 0,
-    "hstrt":                    0x07 << 4,
-    "hend":                     0x0F << 7,
-    "fd3":                      0x01 << 11,
-    "disfdcc":                  0x01 << 12,
-    "chm":                      0x01 << 14,
-    "tbl":                      0x03 << 15,
-    "vhighfs":                  0x01 << 18,
-    "vhighchm":                 0x01 << 19,
-    "tpfd":                     0x0F << 20, # midrange resonances
-    "mres":                     0x0F << 24,
-    "intpol":                   0x01 << 28,
-    "dedge":                    0x01 << 29,
-    "diss2g":                   0x01 << 30,
-    "diss2vs":                  0x01 << 31
-}
-Fields["DRV_STATUS"] = {
-    "sg_result":                0x3FF << 0,
-    "s2vsa":                    0x01 << 12,
-    "s2vsb":                    0x01 << 13,
-    "stealth":                  0x01 << 14,
-    "fsactive":                 0x01 << 15,
-    "csactual":                 0xFF << 16,
-    "stallguard":               0x01 << 24,
-    "ot":                       0x01 << 25,
-    "otpw":                     0x01 << 26,
-    "s2ga":                     0x01 << 27,
-    "s2gb":                     0x01 << 28,
-    "ola":                      0x01 << 29,
-    "olb":                      0x01 << 30,
-    "stst":                     0x01 << 31
-}
-Fields["FACTORY_CONF"] = {
-    "factory_conf":             0x1F << 0
-}
-Fields["GCONF"] = {
-    "recalibrate":              0x01 << 0,
-    "faststandstill":           0x01 << 1,
-    "en_pwm_mode":              0x01 << 2,
-    "multistep_filt":           0x01 << 3,
-    "shaft":                    0x01 << 4,
-    "diag0_error":              0x01 << 5,
-    "diag0_otpw":               0x01 << 6,
-    "diag0_stall":              0x01 << 7,
-    "diag1_stall":              0x01 << 8,
-    "diag1_index":              0x01 << 9,
-    "diag1_onstate":            0x01 << 10,
-    "diag1_steps_skipped":      0x01 << 11,
-    "diag0_int_pushpull":       0x01 << 12,
-    "diag1_poscomp_pushpull":   0x01 << 13,
-    "small_hysteresis":         0x01 << 14,
-    "stop_enable":              0x01 << 15,
-    "direct_mode":              0x01 << 16,
-    "test_mode":                0x01 << 17
-}
-Fields["GSTAT"] = {
-    "reset":                    0x01 << 0,
-    "drv_err":                  0x01 << 1,
-    "uv_cp":                    0x01 << 2
-}
-Fields["GLOBALSCALER"] = {
-    "globalscaler":             0xFF << 0
-}
-Fields["IHOLD_IRUN"] = {
-    "ihold":                    0x1F << 0,
-    "irun":                     0x1F << 8,
-    "iholddelay":               0x0F << 16
-}
-Fields["IOIN"] = {
-    "refl_step":                0x01 << 0,
-    "refr_dir":                 0x01 << 1,
-    "encb_dcen_cfg4":           0x01 << 2,
-    "enca_dcin_cfg5":           0x01 << 3,
-    "drv_enn":                  0x01 << 4,
-    "enc_n_dco_cfg6":           0x01 << 5,
-    "sd_mode":                  0x01 << 6,
-    "swcomp_in":                0x01 << 7,
-    "version":                  0xFF << 24
-}
-Fields["LOST_STEPS"] = {
-    "lost_steps":               0xfffff << 0
-}
-Fields["MSCNT"] = {
-    "mscnt":                    0x3ff << 0
-}
-Fields["MSCURACT"] = {
-    "cur_a":                    0x1ff << 0,
-    "cur_b":                    0x1ff << 16
-}
-Fields["OTP_READ"] = {
-    "otp_fclktrim":             0x1f << 0,
-    "otp_s2_level":             0x01 << 5,
-    "otp_bbm":                  0x01 << 6,
-    "otp_tbl":                  0x01 << 7
-}
-Fields["PWM_AUTO"] = {
-    "pwm_ofs_auto":             0xff << 0,
-    "pwm_grad_auto":            0xff << 16
-}
-Fields["PWMCONF"] = {
-    "pwm_ofs":                  0xFF << 0,
-    "pwm_grad":                 0xFF << 8,
-    "pwm_freq":                 0x03 << 16,
-    "pwm_autoscale":            0x01 << 18,
-    "pwm_autograd":             0x01 << 19,
-    "freewheel":                0x03 << 20,
-    "pwm_reg":                  0x0F << 24,
-    "pwm_lim":                  0x0F << 28
-}
-Fields["PWM_SCALE"] = {
-    "pwm_scale_sum":            0xff << 0,
-    "pwm_scale_auto":           0x1ff << 16
-}
-Fields["TPOWERDOWN"] = {
-    "tpowerdown":               0xff << 0
-}
-Fields["TPWMTHRS"] = {
-    "tpwmthrs":                 0xfffff << 0
-}
-Fields["TCOOLTHRS"] = {
-    "tcoolthrs":                0xfffff << 0
-}
-Fields["TSTEP"] = {
-    "tstep":                    0xfffff << 0
-}
-
-SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
-
-FieldFormatters = dict(tmc2130.FieldFormatters)
-
-
-######################################################################
-# TMC stepper current config helper
-######################################################################
-
-VREF = 0.325
-MAX_CURRENT = 3.000
-
-class TMC5160CurrentHelper:
-    def __init__(self, config, mcu_tmc):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.mcu_tmc = mcu_tmc
-        self.fields = mcu_tmc.get_fields()
-        run_current = config.getfloat('run_current',
-                                      above=0., maxval=MAX_CURRENT)
-        hold_current = config.getfloat('hold_current', MAX_CURRENT,
-                                       above=0., maxval=MAX_CURRENT)
-        self.req_hold_current = hold_current
-        self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
-        self._set_globalscaler(run_current)
-        irun, ihold = self._calc_current(run_current, hold_current)
-        self.fields.set_field("ihold", ihold)
-        self.fields.set_field("irun", irun)
-    def _set_globalscaler(self, current):
-        globalscaler = int((current * 256. * math.sqrt(2.)
-                            * self.sense_resistor / VREF) + .5)
-        globalscaler = max(32, globalscaler)
-        if globalscaler >= 256:
-            globalscaler = 0
-        self.fields.set_field("globalscaler", globalscaler)
-    def _calc_current_bits(self, current):
-        globalscaler = self.fields.get_field("globalscaler")
-        if not globalscaler:
-            globalscaler = 256
-        cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
-                 / (globalscaler * VREF)
-                 - 1. + .5)
-        return max(0, min(31, cs))
-    def _calc_current(self, run_current, hold_current):
-        irun = self._calc_current_bits(run_current)
-        ihold = self._calc_current_bits(min(hold_current, run_current))
-        return irun, ihold
-    def _calc_current_from_field(self, field_name):
-        globalscaler = self.fields.get_field("globalscaler")
-        if not globalscaler:
-            globalscaler = 256
-        bits = self.fields.get_field(field_name)
-        return (globalscaler * (bits + 1) * VREF
-                / (256. * 32. * math.sqrt(2.) * self.sense_resistor))
-    def get_current(self):
-        run_current = self._calc_current_from_field("irun")
-        hold_current = self._calc_current_from_field("ihold")
-        return run_current, hold_current, self.req_hold_current, MAX_CURRENT
-    def set_current(self, run_current, hold_current, print_time):
-        self.req_hold_current = hold_current
-        irun, ihold = self._calc_current(run_current, hold_current)
-        self.fields.set_field("ihold", ihold)
-        val = self.fields.set_field("irun", irun)
-        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
-
-
-######################################################################
-# TMC5160 printer object
-######################################################################
-
-class TMC5160:
-    def __init__(self, config):
-        # Setup mcu communication
-        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
-        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
-        # Register commands
-        current_helper = TMC5160CurrentHelper(config, self.mcu_tmc)
-        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
-        cmdhelper.setup_register_dump(ReadRegisters)
-        self.get_phase_offset = cmdhelper.get_phase_offset
-        self.get_status = cmdhelper.get_status
-        # Setup basic register values
-        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
-        #   CHOPCONF
-        set_config_field = self.fields.set_config_field
-        set_config_field(config, "toff", 3)
-        set_config_field(config, "hstrt", 5)
-        set_config_field(config, "hend", 2)
-        set_config_field(config, "fd3", 0)
-        set_config_field(config, "disfdcc", 0)
-        set_config_field(config, "chm", 0)
-        set_config_field(config, "tbl", 2)
-        set_config_field(config, "vhighfs", 0)
-        set_config_field(config, "vhighchm", 0)
-        set_config_field(config, "tpfd", 4)
-        set_config_field(config, "diss2g", 0)
-        set_config_field(config, "diss2vs", 0)
-        #   COOLCONF
-        set_config_field(config, "semin", 0)    # page 52
-        set_config_field(config, "seup", 0)
-        set_config_field(config, "semax", 0)
-        set_config_field(config, "sedn", 0)
-        set_config_field(config, "seimin", 0)
-        set_config_field(config, "sgt", 0)
-        set_config_field(config, "sfilt", 0)
-        #   IHOLDIRUN
-        set_config_field(config, "iholddelay", 6)
-        #   PWMCONF
-        set_config_field(config, "pwm_ofs", 30)
-        set_config_field(config, "pwm_grad", 0)
-        set_config_field(config, "pwm_freq", 0)
-        set_config_field(config, "pwm_autoscale", True)
-        set_config_field(config, "pwm_autograd", True)
-        set_config_field(config, "freewheel", 0)
-        set_config_field(config, "pwm_reg", 4)
-        set_config_field(config, "pwm_lim", 12)
-        #   TPOWERDOWN
-        set_config_field(config, "tpowerdown", 10)
-
-def load_config_prefix(config):
-    return TMC5160(config)
+# TMC5160 configuration
+#
+# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import math, logging
+from . import bus, tmc, tmc2130
+
+TMC_FREQUENCY=12000000.
+
+Registers = {
+    "GCONF":            0x00,
+    "GSTAT":            0x01,
+    "IFCNT":            0x02,
+    "SLAVECONF":        0x03,
+    "IOIN":             0x04,
+    "X_COMPARE":        0x05,
+    "OTP_READ":         0x07,
+    "FACTORY_CONF":     0x08,
+    "SHORT_CONF":       0x09,
+    "DRV_CONF":         0x0A,
+    "GLOBALSCALER":     0x0B,
+    "OFFSET_READ":      0x0C,
+    "IHOLD_IRUN":       0x10,
+    "TPOWERDOWN":       0x11,
+    "TSTEP":            0x12,
+    "TPWMTHRS":         0x13,
+    "TCOOLTHRS":        0x14,
+    "THIGH":            0x15,
+    "RAMPMODE":         0x20,
+    "XACTUAL":          0x21,
+    "VACTUAL":          0x22,
+    "VSTART":           0x23,
+    "A1":               0x24,
+    "V1":               0x25,
+    "AMAX":             0x26,
+    "VMAX":             0x27,
+    "DMAX":             0x28,
+    "D1":               0x2A,
+    "VSTOP":            0x2B,
+    "TZEROWAIT":        0x2C,
+    "XTARGET":          0x2D,
+    "VDCMIN":           0x33,
+    "SW_MODE":          0x34,
+    "RAMP_STAT":        0x35,
+    "XLATCH":           0x36,
+    "ENCMODE":          0x38,
+    "X_ENC":            0x39,
+    "ENC_CONST":        0x3A,
+    "ENC_STATUS":       0x3B,
+    "ENC_LATCH":        0x3C,
+    "ENC_DEVIATION":    0x3D,
+    "MSLUT0":           0x60,
+    "MSLUT1":           0x61,
+    "MSLUT2":           0x62,
+    "MSLUT3":           0x63,
+    "MSLUT4":           0x64,
+    "MSLUT5":           0x65,
+    "MSLUT6":           0x66,
+    "MSLUT7":           0x67,
+    "MSLUTSEL":         0x68,
+    "MSLUTSTART":       0x69,
+    "MSCNT":            0x6A,
+    "MSCURACT":         0x6B,
+    "CHOPCONF":         0x6C,
+    "COOLCONF":         0x6D,
+    "DCCTRL":           0x6E,
+    "DRV_STATUS":       0x6F,
+    "PWMCONF":          0x70,
+    "PWM_SCALE":        0x71,
+    "PWM_AUTO":         0x72,
+    "LOST_STEPS":       0x73,
+}
+
+ReadRegisters = [
+    "GCONF", "CHOPCONF", "GSTAT", "DRV_STATUS", "FACTORY_CONF", "IOIN",
+    "LOST_STEPS", "MSCNT", "MSCURACT", "OTP_READ", "PWM_SCALE",
+    "PWM_AUTO", "TSTEP"
+]
+
+Fields = {}
+Fields["COOLCONF"] = {
+    "semin":                    0x0F << 0,
+    "seup":                     0x03 << 5,
+    "semax":                    0x0F << 8,
+    "sedn":                     0x03 << 13,
+    "seimin":                   0x01 << 15,
+    "sgt":                      0x7F << 16,
+    "sfilt":                    0x01 << 24
+}
+Fields["CHOPCONF"] = {
+    "toff":                     0x0F << 0,
+    "hstrt":                    0x07 << 4,
+    "hend":                     0x0F << 7,
+    "fd3":                      0x01 << 11,
+    "disfdcc":                  0x01 << 12,
+    "chm":                      0x01 << 14,
+    "tbl":                      0x03 << 15,
+    "vhighfs":                  0x01 << 18,
+    "vhighchm":                 0x01 << 19,
+    "tpfd":                     0x0F << 20, # midrange resonances
+    "mres":                     0x0F << 24,
+    "intpol":                   0x01 << 28,
+    "dedge":                    0x01 << 29,
+    "diss2g":                   0x01 << 30,
+    "diss2vs":                  0x01 << 31
+}
+Fields["DRV_CONF"] = {
+    "bbmtime":                  0x1F << 0,
+    "bbmclks":                  0x0F << 8,
+    "otselect":                 0x03 << 16,
+    "drvstrength":              0x03 << 18,
+    "filt_isense":              0x03 << 20,
+}
+Fields["DRV_STATUS"] = {
+    "sg_result":                0x3FF << 0,
+    "s2vsa":                    0x01 << 12,
+    "s2vsb":                    0x01 << 13,
+    "stealth":                  0x01 << 14,
+    "fsactive":                 0x01 << 15,
+    "csactual":                 0xFF << 16,
+    "stallguard":               0x01 << 24,
+    "ot":                       0x01 << 25,
+    "otpw":                     0x01 << 26,
+    "s2ga":                     0x01 << 27,
+    "s2gb":                     0x01 << 28,
+    "ola":                      0x01 << 29,
+    "olb":                      0x01 << 30,
+    "stst":                     0x01 << 31
+}
+Fields["FACTORY_CONF"] = {
+    "factory_conf":             0x1F << 0
+}
+Fields["GCONF"] = {
+    "recalibrate":              0x01 << 0,
+    "faststandstill":           0x01 << 1,
+    "en_pwm_mode":              0x01 << 2,
+    "multistep_filt":           0x01 << 3,
+    "shaft":                    0x01 << 4,
+    "diag0_error":              0x01 << 5,
+    "diag0_otpw":               0x01 << 6,
+    "diag0_stall":              0x01 << 7,
+    "diag1_stall":              0x01 << 8,
+    "diag1_index":              0x01 << 9,
+    "diag1_onstate":            0x01 << 10,
+    "diag1_steps_skipped":      0x01 << 11,
+    "diag0_int_pushpull":       0x01 << 12,
+    "diag1_poscomp_pushpull":   0x01 << 13,
+    "small_hysteresis":         0x01 << 14,
+    "stop_enable":              0x01 << 15,
+    "direct_mode":              0x01 << 16,
+    "test_mode":                0x01 << 17
+}
+Fields["GSTAT"] = {
+    "reset":                    0x01 << 0,
+    "drv_err":                  0x01 << 1,
+    "uv_cp":                    0x01 << 2
+}
+Fields["GLOBALSCALER"] = {
+    "globalscaler":             0xFF << 0
+}
+Fields["IHOLD_IRUN"] = {
+    "ihold":                    0x1F << 0,
+    "irun":                     0x1F << 8,
+    "iholddelay":               0x0F << 16
+}
+Fields["IOIN"] = {
+    "refl_step":                0x01 << 0,
+    "refr_dir":                 0x01 << 1,
+    "encb_dcen_cfg4":           0x01 << 2,
+    "enca_dcin_cfg5":           0x01 << 3,
+    "drv_enn":                  0x01 << 4,
+    "enc_n_dco_cfg6":           0x01 << 5,
+    "sd_mode":                  0x01 << 6,
+    "swcomp_in":                0x01 << 7,
+    "version":                  0xFF << 24
+}
+Fields["LOST_STEPS"] = {
+    "lost_steps":               0xfffff << 0
+}
+Fields["MSLUT0"] = { "mslut0": 0xffffffff }
+Fields["MSLUT1"] = { "mslut1": 0xffffffff }
+Fields["MSLUT2"] = { "mslut2": 0xffffffff }
+Fields["MSLUT3"] = { "mslut3": 0xffffffff }
+Fields["MSLUT4"] = { "mslut4": 0xffffffff }
+Fields["MSLUT5"] = { "mslut5": 0xffffffff }
+Fields["MSLUT6"] = { "mslut6": 0xffffffff }
+Fields["MSLUT7"] = { "mslut7": 0xffffffff }
+Fields["MSLUTSEL"] = {
+    "x3":                       0xFF << 24,
+    "x2":                       0xFF << 16,
+    "x1":                       0xFF << 8,
+    "w3":                       0x03 << 6,
+    "w2":                       0x03 << 4,
+    "w1":                       0x03 << 2,
+    "w0":                       0x03 << 0,
+}
+Fields["MSLUTSTART"] = {
+    "start_sin":                0xFF << 0,
+    "start_sin90":              0xFF << 16,
+}
+Fields["MSCNT"] = {
+    "mscnt":                    0x3ff << 0
+}
+Fields["MSCURACT"] = {
+    "cur_a":                    0x1ff << 0,
+    "cur_b":                    0x1ff << 16
+}
+Fields["OTP_READ"] = {
+    "otp_fclktrim":             0x1f << 0,
+    "otp_s2_level":             0x01 << 5,
+    "otp_bbm":                  0x01 << 6,
+    "otp_tbl":                  0x01 << 7
+}
+Fields["PWM_AUTO"] = {
+    "pwm_ofs_auto":             0xff << 0,
+    "pwm_grad_auto":            0xff << 16
+}
+Fields["PWMCONF"] = {
+    "pwm_ofs":                  0xFF << 0,
+    "pwm_grad":                 0xFF << 8,
+    "pwm_freq":                 0x03 << 16,
+    "pwm_autoscale":            0x01 << 18,
+    "pwm_autograd":             0x01 << 19,
+    "freewheel":                0x03 << 20,
+    "pwm_reg":                  0x0F << 24,
+    "pwm_lim":                  0x0F << 28
+}
+Fields["PWM_SCALE"] = {
+    "pwm_scale_sum":            0xff << 0,
+    "pwm_scale_auto":           0x1ff << 16
+}
+Fields["TPOWERDOWN"] = {
+    "tpowerdown":               0xff << 0
+}
+Fields["TPWMTHRS"] = {
+    "tpwmthrs":                 0xfffff << 0
+}
+Fields["TCOOLTHRS"] = {
+    "tcoolthrs":                0xfffff << 0
+}
+Fields["TSTEP"] = {
+    "tstep":                    0xfffff << 0
+}
+
+SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
+
+FieldFormatters = dict(tmc2130.FieldFormatters)
+FieldFormatters.update({
+    "s2vsa":            (lambda v: "1(ShortToSupply_A!)" if v else ""),
+    "s2vsb":            (lambda v: "1(ShortToSupply_B!)" if v else ""),
+})
+
+
+######################################################################
+# TMC stepper current config helper
+######################################################################
+
+VREF = 0.325
+MAX_CURRENT = 10.000 # Maximum dependent on board, but 10 is safe sanity check
+
+class TMC5160CurrentHelper:
+    def __init__(self, config, mcu_tmc):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.mcu_tmc = mcu_tmc
+        self.fields = mcu_tmc.get_fields()
+        run_current = config.getfloat('run_current',
+                                      above=0., maxval=MAX_CURRENT)
+        hold_current = config.getfloat('hold_current', MAX_CURRENT,
+                                       above=0., maxval=MAX_CURRENT)
+        self.req_hold_current = hold_current
+        self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
+        gscaler, irun, ihold = self._calc_current(run_current, hold_current)
+        self.fields.set_field("globalscaler", gscaler)
+        self.fields.set_field("ihold", ihold)
+        self.fields.set_field("irun", irun)
+    def _calc_globalscaler(self, current):
+        globalscaler = int((current * 256. * math.sqrt(2.)
+                            * self.sense_resistor / VREF) + .5)
+        globalscaler = max(32, globalscaler)
+        if globalscaler >= 256:
+            globalscaler = 0
+        return globalscaler
+    def _calc_current_bits(self, current, globalscaler):
+        if not globalscaler:
+            globalscaler = 256
+        cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
+                 / (globalscaler * VREF)
+                 - 1. + .5)
+        return max(0, min(31, cs))
+    def _calc_current(self, run_current, hold_current):
+        gscaler = self._calc_globalscaler(run_current)
+        irun = self._calc_current_bits(run_current, gscaler)
+        ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
+        return gscaler, irun, ihold
+    def _calc_current_from_field(self, field_name):
+        globalscaler = self.fields.get_field("globalscaler")
+        if not globalscaler:
+            globalscaler = 256
+        bits = self.fields.get_field(field_name)
+        return (globalscaler * (bits + 1) * VREF
+                / (256. * 32. * math.sqrt(2.) * self.sense_resistor))
+    def get_current(self):
+        run_current = self._calc_current_from_field("irun")
+        hold_current = self._calc_current_from_field("ihold")
+        return run_current, hold_current, self.req_hold_current, MAX_CURRENT
+    def set_current(self, run_current, hold_current, print_time):
+        self.req_hold_current = hold_current
+        gscaler, irun, ihold = self._calc_current(run_current, hold_current)
+        val = self.fields.set_field("globalscaler", gscaler)
+        self.mcu_tmc.set_register("GLOBALSCALER", val, print_time)
+        self.fields.set_field("ihold", ihold)
+        val = self.fields.set_field("irun", irun)
+        self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
+
+
+######################################################################
+# TMC5160 printer object
+######################################################################
+
+class TMC5160:
+    def __init__(self, config):
+        # Setup mcu communication
+        self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
+        self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields,
+                                           TMC_FREQUENCY)
+        # Allow virtual pins to be created
+        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
+        # Register commands
+        current_helper = TMC5160CurrentHelper(config, self.mcu_tmc)
+        cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
+        cmdhelper.setup_register_dump(ReadRegisters)
+        self.get_phase_offset = cmdhelper.get_phase_offset
+        self.get_status = cmdhelper.get_status
+        # Setup basic register values
+        tmc.TMCWaveTableHelper(config, self.mcu_tmc)
+        tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
+        set_config_field = self.fields.set_config_field
+        #   GCONF
+        set_config_field(config, "multistep_filt", True)
+        #   CHOPCONF
+        set_config_field(config, "toff", 3)
+        set_config_field(config, "hstrt", 5)
+        set_config_field(config, "hend", 2)
+        set_config_field(config, "fd3", 0)
+        set_config_field(config, "disfdcc", 0)
+        set_config_field(config, "chm", 0)
+        set_config_field(config, "tbl", 2)
+        set_config_field(config, "vhighfs", 0)
+        set_config_field(config, "vhighchm", 0)
+        set_config_field(config, "tpfd", 4)
+        set_config_field(config, "diss2g", 0)
+        set_config_field(config, "diss2vs", 0)
+        #   COOLCONF
+        set_config_field(config, "semin", 0)    # page 52
+        set_config_field(config, "seup", 0)
+        set_config_field(config, "semax", 0)
+        set_config_field(config, "sedn", 0)
+        set_config_field(config, "seimin", 0)
+        set_config_field(config, "sgt", 0)
+        set_config_field(config, "sfilt", 0)
+        #   DRV_CONF
+        set_config_field(config, "drvstrength", 0)
+        set_config_field(config, "bbmclks", 4)
+        set_config_field(config, "bbmtime", 0)
+        set_config_field(config, "filt_isense", 0)
+        #   IHOLDIRUN
+        set_config_field(config, "iholddelay", 6)
+        #   PWMCONF
+        set_config_field(config, "pwm_ofs", 30)
+        set_config_field(config, "pwm_grad", 0)
+        set_config_field(config, "pwm_freq", 0)
+        set_config_field(config, "pwm_autoscale", True)
+        set_config_field(config, "pwm_autograd", True)
+        set_config_field(config, "freewheel", 0)
+        set_config_field(config, "pwm_reg", 4)
+        set_config_field(config, "pwm_lim", 12)
+        #   TPOWERDOWN
+        set_config_field(config, "tpowerdown", 10)
+
+def load_config_prefix(config):
+    return TMC5160(config)

klippy/extras/tmc_uart.py

@@ -1,252 +1,255 @@
-# Helper code for communicating with TMC stepper drivers via UART
-#
-# Copyright (C) 2018-2021  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
-
-
-######################################################################
-# TMC uart analog mux support
-######################################################################
-
-class MCU_analog_mux:
-    def __init__(self, mcu, cmd_queue, select_pins_desc):
-        self.mcu = mcu
-        self.cmd_queue = cmd_queue
-        ppins = mcu.get_printer().lookup_object("pins")
-        select_pin_params = [ppins.lookup_pin(spd, can_invert=True)
-                             for spd in select_pins_desc]
-        self.oids = [self.mcu.create_oid() for pp in select_pin_params]
-        self.pins = [pp['pin'] for pp in select_pin_params]
-        self.pin_values = tuple([-1 for pp in select_pin_params])
-        for oid, pin in zip(self.oids, self.pins):
-            self.mcu.add_config_cmd("config_digital_out oid=%d pin=%s"
-                                    " value=0 default_value=0 max_duration=0"
-                                    % (oid, pin))
-        self.update_pin_cmd = None
-        self.mcu.register_config_callback(self.build_config)
-    def build_config(self):
-        self.update_pin_cmd = self.mcu.lookup_command(
-            "update_digital_out oid=%c value=%c", cq=self.cmd_queue)
-    def get_instance_id(self, select_pins_desc):
-        ppins = self.mcu.get_printer().lookup_object("pins")
-        select_pin_params = [ppins.parse_pin(spd, can_invert=True)
-                             for spd in select_pins_desc]
-        for pin_params in select_pin_params:
-            if pin_params['chip'] != self.mcu:
-                raise self.mcu.get_printer().config_error(
-                    "TMC mux pins must be on the same mcu")
-        pins = [pp['pin'] for pp in select_pin_params]
-        if pins != self.pins:
-            raise self.mcu.get_printer().config_error(
-                "All TMC mux instances must use identical pins")
-        return tuple([not pp['invert'] for pp in select_pin_params])
-    def activate(self, instance_id):
-        for oid, old, new in zip(self.oids, self.pin_values, instance_id):
-            if old != new:
-                self.update_pin_cmd.send([oid, new])
-        self.pin_values = instance_id
-
-
-######################################################################
-# TMC uart communication
-######################################################################
-
-# Share mutexes so only one active tmc_uart command on a single mcu at
-# a time. This helps limit cpu usage on slower micro-controllers.
-class PrinterTMCUartMutexes:
-    def __init__(self):
-        self.mcu_to_mutex = {}
-def lookup_tmc_uart_mutex(mcu):
-    printer = mcu.get_printer()
-    pmutexes = printer.lookup_object('tmc_uart', None)
-    if pmutexes is None:
-        pmutexes = PrinterTMCUartMutexes()
-        printer.add_object('tmc_uart', pmutexes)
-    mutex = pmutexes.mcu_to_mutex.get(mcu)
-    if mutex is None:
-        mutex = printer.get_reactor().mutex()
-        pmutexes.mcu_to_mutex[mcu] = mutex
-    return mutex
-
-TMC_BAUD_RATE = 40000
-TMC_BAUD_RATE_AVR = 9000
-
-# Code for sending messages on a TMC uart
-class MCU_TMC_uart_bitbang:
-    def __init__(self, rx_pin_params, tx_pin_params, select_pins_desc):
-        self.mcu = rx_pin_params['chip']
-        self.mutex = lookup_tmc_uart_mutex(self.mcu)
-        self.pullup = rx_pin_params['pullup']
-        self.rx_pin = rx_pin_params['pin']
-        self.tx_pin = tx_pin_params['pin']
-        self.oid = self.mcu.create_oid()
-        self.cmd_queue = self.mcu.alloc_command_queue()
-        self.analog_mux = None
-        if select_pins_desc is not None:
-            self.analog_mux = MCU_analog_mux(self.mcu, self.cmd_queue,
-                                             select_pins_desc)
-        self.instances = {}
-        self.tmcuart_send_cmd = None
-        self.mcu.register_config_callback(self.build_config)
-    def build_config(self):
-        baud = TMC_BAUD_RATE
-        mcu_type = self.mcu.get_constants().get("MCU", "")
-        if mcu_type.startswith("atmega") or mcu_type.startswith("at90usb"):
-            baud = TMC_BAUD_RATE_AVR
-        bit_ticks = self.mcu.seconds_to_clock(1. / baud)
-        self.mcu.add_config_cmd(
-            "config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
-            % (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
-        self.tmcuart_send_cmd = self.mcu.lookup_query_command(
-            "tmcuart_send oid=%c write=%*s read=%c",
-            "tmcuart_response oid=%c read=%*s", oid=self.oid,
-            cq=self.cmd_queue, is_async=True)
-    def register_instance(self, rx_pin_params, tx_pin_params,
-                          select_pins_desc, addr):
-        if (rx_pin_params['pin'] != self.rx_pin
-            or tx_pin_params['pin'] != self.tx_pin
-            or (select_pins_desc is None) != (self.analog_mux is None)):
-            raise self.mcu.get_printer().config_error(
-                "Shared TMC uarts must use the same pins")
-        instance_id = None
-        if self.analog_mux is not None:
-            instance_id = self.analog_mux.get_instance_id(select_pins_desc)
-        if (instance_id, addr) in self.instances:
-            raise self.mcu.get_printer().config_error(
-                "Shared TMC uarts need unique address or select_pins polarity")
-        self.instances[(instance_id, addr)] = True
-        return instance_id
-    def _calc_crc8(self, data):
-        # Generate a CRC8-ATM value for a bytearray
-        crc = 0
-        for b in data:
-            for i in range(8):
-                if (crc >> 7) ^ (b & 0x01):
-                    crc = (crc << 1) ^ 0x07
-                else:
-                    crc = (crc << 1)
-                crc &= 0xff
-                b >>= 1
-        return crc
-    def _add_serial_bits(self, data):
-        # Add serial start and stop bits to a message in a bytearray
-        out = 0
-        pos = 0
-        for d in data:
-            b = (d << 1) | 0x200
-            out |= (b << pos)
-            pos += 10
-        res = bytearray()
-        for i in range((pos+7)//8):
-            res.append((out >> (i*8)) & 0xff)
-        return res
-    def _encode_read(self, sync, addr, reg):
-        # Generate a uart read register message
-        msg = bytearray([sync, addr, reg])
-        msg.append(self._calc_crc8(msg))
-        return self._add_serial_bits(msg)
-    def _encode_write(self, sync, addr, reg, val):
-        # Generate a uart write register message
-        msg = bytearray([sync, addr, reg, (val >> 24) & 0xff,
-                         (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff])
-        msg.append(self._calc_crc8(msg))
-        return self._add_serial_bits(msg)
-    def _decode_read(self, reg, data):
-        # Extract a uart read response message
-        if len(data) != 10:
-            return None
-        # Convert data into a long integer for easy manipulation
-        mval = pos = 0
-        for d in bytearray(data):
-            mval |= d << pos
-            pos += 8
-        # Extract register value
-        val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
-               | (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
-        # Verify start/stop bits and crc
-        encoded_data = self._encode_write(0x05, 0xff, reg, val)
-        if data != encoded_data:
-            return None
-        return val
-    def reg_read(self, instance_id, addr, reg):
-        if self.analog_mux is not None:
-            self.analog_mux.activate(instance_id)
-        msg = self._encode_read(0xf5, addr, reg)
-        params = self.tmcuart_send_cmd.send([self.oid, msg, 10])
-        return self._decode_read(reg, params['read'])
-    def reg_write(self, instance_id, addr, reg, val, print_time=None):
-        minclock = 0
-        if print_time is not None:
-            minclock = self.mcu.print_time_to_clock(print_time)
-        if self.analog_mux is not None:
-            self.analog_mux.activate(instance_id)
-        msg = self._encode_write(0xf5, addr, reg | 0x80, val)
-        self.tmcuart_send_cmd.send([self.oid, msg, 0], minclock=minclock)
-
-# Lookup a (possibly shared) tmc uart
-def lookup_tmc_uart_bitbang(config, max_addr):
-    ppins = config.get_printer().lookup_object("pins")
-    rx_pin_params = ppins.lookup_pin(config.get('uart_pin'), can_pullup=True,
-                                     share_type="tmc_uart_rx")
-    tx_pin_desc = config.get('tx_pin', None)
-    if tx_pin_desc is None:
-        tx_pin_params = rx_pin_params
-    else:
-        tx_pin_params = ppins.lookup_pin(tx_pin_desc, share_type="tmc_uart_tx")
-    if rx_pin_params['chip'] is not tx_pin_params['chip']:
-        raise ppins.error("TMC uart rx and tx pins must be on the same mcu")
-    select_pins_desc = config.getlist('select_pins', None)
-    addr = config.getint('uart_address', 0, minval=0, maxval=max_addr)
-    mcu_uart = rx_pin_params.get('class')
-    if mcu_uart is None:
-        mcu_uart = MCU_TMC_uart_bitbang(rx_pin_params, tx_pin_params,
-                                        select_pins_desc)
-        rx_pin_params['class'] = mcu_uart
-    instance_id = mcu_uart.register_instance(rx_pin_params, tx_pin_params,
-                                             select_pins_desc, addr)
-    return instance_id, addr, mcu_uart
-
-# Helper code for communicating via TMC uart
-class MCU_TMC_uart:
-    def __init__(self, config, name_to_reg, fields, max_addr=0):
-        self.printer = config.get_printer()
-        self.name = config.get_name().split()[-1]
-        self.name_to_reg = name_to_reg
-        self.fields = fields
-        self.ifcnt = None
-        self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
-            config, max_addr)
-        self.mutex = self.mcu_uart.mutex
-    def get_fields(self):
-        return self.fields
-    def _do_get_register(self, reg_name):
-        reg = self.name_to_reg[reg_name]
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            return 0
-        for retry in range(5):
-            val = self.mcu_uart.reg_read(self.instance_id, self.addr, reg)
-            if val is not None:
-                return val
-        raise self.printer.command_error(
-            "Unable to read tmc uart '%s' register %s" % (self.name, reg_name))
-    def get_register(self, reg_name):
-        with self.mutex:
-            return self._do_get_register(reg_name)
-    def set_register(self, reg_name, val, print_time=None):
-        reg = self.name_to_reg[reg_name]
-        if self.printer.get_start_args().get('debugoutput') is not None:
-            return
-        with self.mutex:
-            for retry in range(5):
-                ifcnt = self.ifcnt
-                if ifcnt is None:
-                    self.ifcnt = ifcnt = self._do_get_register("IFCNT")
-                self.mcu_uart.reg_write(self.instance_id, self.addr, reg, val,
-                                        print_time)
-                self.ifcnt = self._do_get_register("IFCNT")
-                if self.ifcnt == (ifcnt + 1) & 0xff:
-                    return
-        raise self.printer.command_error(
-            "Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
+# Helper code for communicating with TMC stepper drivers via UART
+#
+# Copyright (C) 2018-2021  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+
+######################################################################
+# TMC uart analog mux support
+######################################################################
+
+class MCU_analog_mux:
+    def __init__(self, mcu, cmd_queue, select_pins_desc):
+        self.mcu = mcu
+        self.cmd_queue = cmd_queue
+        ppins = mcu.get_printer().lookup_object("pins")
+        select_pin_params = [ppins.lookup_pin(spd, can_invert=True)
+                             for spd in select_pins_desc]
+        self.oids = [self.mcu.create_oid() for pp in select_pin_params]
+        self.pins = [pp['pin'] for pp in select_pin_params]
+        self.pin_values = tuple([-1 for pp in select_pin_params])
+        for oid, pin in zip(self.oids, self.pins):
+            self.mcu.add_config_cmd("config_digital_out oid=%d pin=%s"
+                                    " value=0 default_value=0 max_duration=0"
+                                    % (oid, pin))
+        self.update_pin_cmd = None
+        self.mcu.register_config_callback(self.build_config)
+    def build_config(self):
+        self.update_pin_cmd = self.mcu.lookup_command(
+            "update_digital_out oid=%c value=%c", cq=self.cmd_queue)
+    def get_instance_id(self, select_pins_desc):
+        ppins = self.mcu.get_printer().lookup_object("pins")
+        select_pin_params = [ppins.parse_pin(spd, can_invert=True)
+                             for spd in select_pins_desc]
+        for pin_params in select_pin_params:
+            if pin_params['chip'] != self.mcu:
+                raise self.mcu.get_printer().config_error(
+                    "TMC mux pins must be on the same mcu")
+        pins = [pp['pin'] for pp in select_pin_params]
+        if pins != self.pins:
+            raise self.mcu.get_printer().config_error(
+                "All TMC mux instances must use identical pins")
+        return tuple([not pp['invert'] for pp in select_pin_params])
+    def activate(self, instance_id):
+        for oid, old, new in zip(self.oids, self.pin_values, instance_id):
+            if old != new:
+                self.update_pin_cmd.send([oid, new])
+        self.pin_values = instance_id
+
+
+######################################################################
+# TMC uart communication
+######################################################################
+
+# Share mutexes so only one active tmc_uart command on a single mcu at
+# a time. This helps limit cpu usage on slower micro-controllers.
+class PrinterTMCUartMutexes:
+    def __init__(self):
+        self.mcu_to_mutex = {}
+def lookup_tmc_uart_mutex(mcu):
+    printer = mcu.get_printer()
+    pmutexes = printer.lookup_object('tmc_uart', None)
+    if pmutexes is None:
+        pmutexes = PrinterTMCUartMutexes()
+        printer.add_object('tmc_uart', pmutexes)
+    mutex = pmutexes.mcu_to_mutex.get(mcu)
+    if mutex is None:
+        mutex = printer.get_reactor().mutex()
+        pmutexes.mcu_to_mutex[mcu] = mutex
+    return mutex
+
+TMC_BAUD_RATE = 40000
+TMC_BAUD_RATE_AVR = 9000
+
+# Code for sending messages on a TMC uart
+class MCU_TMC_uart_bitbang:
+    def __init__(self, rx_pin_params, tx_pin_params, select_pins_desc):
+        self.mcu = rx_pin_params['chip']
+        self.mutex = lookup_tmc_uart_mutex(self.mcu)
+        self.pullup = rx_pin_params['pullup']
+        self.rx_pin = rx_pin_params['pin']
+        self.tx_pin = tx_pin_params['pin']
+        self.oid = self.mcu.create_oid()
+        self.cmd_queue = self.mcu.alloc_command_queue()
+        self.analog_mux = None
+        if select_pins_desc is not None:
+            self.analog_mux = MCU_analog_mux(self.mcu, self.cmd_queue,
+                                             select_pins_desc)
+        self.instances = {}
+        self.tmcuart_send_cmd = None
+        self.mcu.register_config_callback(self.build_config)
+    def build_config(self):
+        baud = TMC_BAUD_RATE
+        mcu_type = self.mcu.get_constants().get("MCU", "")
+        if mcu_type.startswith("atmega") or mcu_type.startswith("at90usb"):
+            baud = TMC_BAUD_RATE_AVR
+        bit_ticks = self.mcu.seconds_to_clock(1. / baud)
+        self.mcu.add_config_cmd(
+            "config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
+            % (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
+        self.tmcuart_send_cmd = self.mcu.lookup_query_command(
+            "tmcuart_send oid=%c write=%*s read=%c",
+            "tmcuart_response oid=%c read=%*s", oid=self.oid,
+            cq=self.cmd_queue, is_async=True)
+    def register_instance(self, rx_pin_params, tx_pin_params,
+                          select_pins_desc, addr):
+        if (rx_pin_params['pin'] != self.rx_pin
+            or tx_pin_params['pin'] != self.tx_pin
+            or (select_pins_desc is None) != (self.analog_mux is None)):
+            raise self.mcu.get_printer().config_error(
+                "Shared TMC uarts must use the same pins")
+        instance_id = None
+        if self.analog_mux is not None:
+            instance_id = self.analog_mux.get_instance_id(select_pins_desc)
+        if (instance_id, addr) in self.instances:
+            raise self.mcu.get_printer().config_error(
+                "Shared TMC uarts need unique address or select_pins polarity")
+        self.instances[(instance_id, addr)] = True
+        return instance_id
+    def _calc_crc8(self, data):
+        # Generate a CRC8-ATM value for a bytearray
+        crc = 0
+        for b in data:
+            for i in range(8):
+                if (crc >> 7) ^ (b & 0x01):
+                    crc = (crc << 1) ^ 0x07
+                else:
+                    crc = (crc << 1)
+                crc &= 0xff
+                b >>= 1
+        return crc
+    def _add_serial_bits(self, data):
+        # Add serial start and stop bits to a message in a bytearray
+        out = 0
+        pos = 0
+        for d in data:
+            b = (d << 1) | 0x200
+            out |= (b << pos)
+            pos += 10
+        res = bytearray()
+        for i in range((pos+7)//8):
+            res.append((out >> (i*8)) & 0xff)
+        return res
+    def _encode_read(self, sync, addr, reg):
+        # Generate a uart read register message
+        msg = bytearray([sync, addr, reg])
+        msg.append(self._calc_crc8(msg))
+        return self._add_serial_bits(msg)
+    def _encode_write(self, sync, addr, reg, val):
+        # Generate a uart write register message
+        msg = bytearray([sync, addr, reg, (val >> 24) & 0xff,
+                         (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff])
+        msg.append(self._calc_crc8(msg))
+        return self._add_serial_bits(msg)
+    def _decode_read(self, reg, data):
+        # Extract a uart read response message
+        if len(data) != 10:
+            return None
+        # Convert data into a long integer for easy manipulation
+        mval = pos = 0
+        for d in bytearray(data):
+            mval |= d << pos
+            pos += 8
+        # Extract register value
+        val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
+               | (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
+        # Verify start/stop bits and crc
+        encoded_data = self._encode_write(0x05, 0xff, reg, val)
+        if data != encoded_data:
+            return None
+        return val
+    def reg_read(self, instance_id, addr, reg):
+        if self.analog_mux is not None:
+            self.analog_mux.activate(instance_id)
+        msg = self._encode_read(0xf5, addr, reg)
+        params = self.tmcuart_send_cmd.send([self.oid, msg, 10])
+        return self._decode_read(reg, params['read'])
+    def reg_write(self, instance_id, addr, reg, val, print_time=None):
+        minclock = 0
+        if print_time is not None:
+            minclock = self.mcu.print_time_to_clock(print_time)
+        if self.analog_mux is not None:
+            self.analog_mux.activate(instance_id)
+        msg = self._encode_write(0xf5, addr, reg | 0x80, val)
+        self.tmcuart_send_cmd.send([self.oid, msg, 0], minclock=minclock)
+
+# Lookup a (possibly shared) tmc uart
+def lookup_tmc_uart_bitbang(config, max_addr):
+    ppins = config.get_printer().lookup_object("pins")
+    rx_pin_params = ppins.lookup_pin(config.get('uart_pin'), can_pullup=True,
+                                     share_type="tmc_uart_rx")
+    tx_pin_desc = config.get('tx_pin', None)
+    if tx_pin_desc is None:
+        tx_pin_params = rx_pin_params
+    else:
+        tx_pin_params = ppins.lookup_pin(tx_pin_desc, share_type="tmc_uart_tx")
+    if rx_pin_params['chip'] is not tx_pin_params['chip']:
+        raise ppins.error("TMC uart rx and tx pins must be on the same mcu")
+    select_pins_desc = config.getlist('select_pins', None)
+    addr = config.getint('uart_address', 0, minval=0, maxval=max_addr)
+    mcu_uart = rx_pin_params.get('class')
+    if mcu_uart is None:
+        mcu_uart = MCU_TMC_uart_bitbang(rx_pin_params, tx_pin_params,
+                                        select_pins_desc)
+        rx_pin_params['class'] = mcu_uart
+    instance_id = mcu_uart.register_instance(rx_pin_params, tx_pin_params,
+                                             select_pins_desc, addr)
+    return instance_id, addr, mcu_uart
+
+# Helper code for communicating via TMC uart
+class MCU_TMC_uart:
+    def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
+        self.name_to_reg = name_to_reg
+        self.fields = fields
+        self.ifcnt = None
+        self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
+            config, max_addr)
+        self.mutex = self.mcu_uart.mutex
+        self.tmc_frequency = tmc_frequency
+    def get_fields(self):
+        return self.fields
+    def _do_get_register(self, reg_name):
+        reg = self.name_to_reg[reg_name]
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
+        for retry in range(5):
+            val = self.mcu_uart.reg_read(self.instance_id, self.addr, reg)
+            if val is not None:
+                return val
+        raise self.printer.command_error(
+            "Unable to read tmc uart '%s' register %s" % (self.name, reg_name))
+    def get_register(self, reg_name):
+        with self.mutex:
+            return self._do_get_register(reg_name)
+    def set_register(self, reg_name, val, print_time=None):
+        reg = self.name_to_reg[reg_name]
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return
+        with self.mutex:
+            for retry in range(5):
+                ifcnt = self.ifcnt
+                if ifcnt is None:
+                    self.ifcnt = ifcnt = self._do_get_register("IFCNT")
+                self.mcu_uart.reg_write(self.instance_id, self.addr, reg, val,
+                                        print_time)
+                self.ifcnt = self._do_get_register("IFCNT")
+                if self.ifcnt == (ifcnt + 1) & 0xff:
+                    return
+        raise self.printer.command_error(
+            "Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
+    def get_tmc_frequency(self):
+        return self.tmc_frequency

klippy/extras/virtual_sdcard.py

@@ -30,6 +30,9 @@ class VirtualSD:
         gcode_macro = self.printer.load_object(config, 'gcode_macro')
         self.on_error_gcode = gcode_macro.load_template(
             config, 'on_error_gcode', '')
+        # power lose resume
+        self.lines = 0
+        self.save_every_n_lines = 50
         # Register commands
         self.gcode = self.printer.lookup_object('gcode')
         for cmd in ['M20', 'M21', 'M23', 'M24', 'M25', 'M26', 'M27']:
@@ -120,6 +123,7 @@ class VirtualSD:
             self.do_pause()
             self.current_file.close()
             self.current_file = None
+            self.lines = 0
             self.print_stats.note_cancel()
         self.file_position = self.file_size = 0.
     # G-Code commands
@@ -232,16 +236,20 @@ class VirtualSD:
         partial_input = ""
         lines = []
         error_message = None
+        plr_file = open("/home/mks/scripts/plr/plr_record", 'w', buffering=0)
         while not self.must_pause_work:
             if not lines:
                 # Read more data
                 try:
                     data = self.current_file.read(8192)
                 except:
+                    plr_file.close()
                     logging.exception("virtual_sdcard read")
                     break
                 if not data:
                     # End of file
+                    self.lines = 0
+                    plr_file.close()
                     self.current_file.close()
                     self.current_file = None
                     logging.info("Finished SD card print")
@@ -263,6 +271,13 @@ class VirtualSD:
             next_file_position = self.file_position + len(line) + 1
             self.next_file_position = next_file_position
             try:
+                self.lines += 1
+                if self.lines % self.save_every_n_lines == 0:
+                    # temp = "SAVE_VARIABLE VARIABLE=gcode_lines VALUE=" + str(self.lines)
+                    # self.gcode._process_commands([temp], need_ack=False)
+                    plr_file.seek(0)
+                    plr_file.write(str(self.lines))
+                    plr_file.truncate()
                 self.gcode.run_script(line)
             except self.gcode.error as e:
                 error_message = str(e)
@@ -287,6 +302,7 @@ class VirtualSD:
                 lines = []
                 partial_input = ""
         logging.info("Exiting SD card print (position %d)", self.file_position)
+        plr_file.close()
         self.work_timer = None
         self.cmd_from_sd = False
         if error_message is not None:
@@ -296,6 +312,16 @@ class VirtualSD:
         else:
             self.print_stats.note_complete()
         return self.reactor.NEVER
+    # cmd_TOGGLE_PLR_help = "enable or disable power lose resume"
+    # def cmd_TOGGLE_PLR(self, gcmd):
+    #     if self.plr_enable:
+    #         self.plr_enable = False
+    #         temp = "SAVE_VARIABLE VARIABLE=plr_enable VALUE=" + str(self.plr_enable)
+    #         self.gcode._process_commands([temp], need_ack=False)
+    #         gcmd.respond_raw("Power lose resume disabled")
+    #     else:
+    #         self.plr_enable = True
+    #         gcmd.respond_raw("Power lose resume enabled")
 
 def load_config(config):
     return VirtualSD(config)

klippy/extras/x_twist_compensation.py

@@ -1,664 +0,0 @@
-# X Twist Compensation
-# Copyright (C) 2022  Jeremy Tan <jeremytkw98@gmail.com>
-# This file may be distributed under the terms of the GNU GPLv3 license.
-
-"""
-[x_twist_compensation]
-horizontal_move_z: 10
-speed: 50
-start_x: 0 ; nozzle's x coordinate at the start of the calibration ! required
-end_x: 200 ; nozzle's x coordinate at the end of the calibration ! required
-y: 100 ; nozzle's y coordinate during the calibration ! required
-"""
-
-import logging
-import math
-from . import manual_probe as ManualProbe, bed_mesh as BedMesh
-
-DEFAULT_N_POINTS = 3
-DEFAULT_PROFILE_NAME = 'default'
-BED_MESH_CONFIG_NAME = 'bed_mesh'
-
-
-class Config:
-    # values stored in printer.cfg when a profile is saved
-    DEFAULT_SPEED = 50.
-    DEFAULT_HORIZONTAL_MOVE_Z = 10.
-    REQUIRED = True
-    OPTIONAL = False
-    CONFIG_OPTIONS = {
-        'horizontal_move_z': (float, OPTIONAL, DEFAULT_HORIZONTAL_MOVE_Z),
-        'speed': (float, OPTIONAL, DEFAULT_SPEED),
-        'start_x': (float, REQUIRED, None),
-        'end_x': (float, REQUIRED, None),
-        'y': (float, REQUIRED, None)
-    }
-
-
-class XTwistCompensation:
-    def __init__(self, config):
-        # get printer
-        self.printer = config.get_printer()
-
-        # get values from [x_twist_compensation] section in printer .cfg
-        for config_key, \
-            (config_type, required, default) in Config.CONFIG_OPTIONS.items():
-            value = None
-            if config_type == float:
-                value = config.getfloat(config_key, default)
-            else:
-                value = config.get(config_key, default)
-            if required and value is None:
-                raise config.error(
-                    "Missing required config option for section [{}]: {}"
-                    .format(config.get_name(), config_key))
-            setattr(self, config_key, value)
-
-        # setup persistent storage
-        self.pmgr = ProfileManager(config, self)
-
-        # setup calibrater
-        calibrater_config = {
-            'horizontal_move_z': self.horizontal_move_z
-                if hasattr(self, 'horizontal_move_z') else None,
-            'speed': self.speed if hasattr(self, 'speed') else None,
-            'start_x': self.start_x if hasattr(self, 'start_x') else None,
-            'end_x': self.end_x if hasattr(self, 'end_x') else None,
-            'y': self.y if hasattr(self, 'y') else None
-        }
-        self.calibrater = Calibrater(
-            config, self.pmgr, calibrater_config)
-
-        self.enabled = False
-
-        # register gcode handlers
-        self._register_gcode_handlers()
-
-    def _register_gcode_handlers(self):
-        # register gcode handlers
-        self.gcode = self.printer.lookup_object('gcode')
-        self.gcode.register_command(
-            'X_TWIST_COMPENSATE_MESH',
-            self.cmd_X_TWIST_COMPENSATE_MESH,
-            desc=self.cmd_X_TWIST_COMPENSATE_MESH_help)
-        self.gcode.register_command(
-            'X_TWIST_COMPENSATE_STATUS',
-            self.cmd_X_TWIST_COMPENSATE_STATUS,
-            desc=self.cmd_X_TWIST_COMPENSATE_STATUS_help)
-
-    def get_z_compensation_value(self, x_coord, optional_profile_name=None):
-        # returns the (lineraly interpolated) z compensation value
-        # for the given x coordinate
-        # uses the current profile if optional_profile_name is not specified
-        enabled = self.pmgr.get_is_enabled()
-        if enabled or optional_profile_name is not None:
-            current_profile = \
-                self.pmgr.get_current_profile() \
-                if optional_profile_name is None \
-                else self.pmgr.get_profile(optional_profile_name)
-            z_compensations = current_profile.z_compensations
-            n_points = len(z_compensations)
-            spacing = (self.end_x - self.start_x) / (n_points - 1)
-            interpolate_t = (x_coord - self.start_x) / spacing
-            interpolate_i = int(math.floor(interpolate_t))
-            interpolate_i = BedMesh.constrain(interpolate_i, 0, n_points - 2)
-            interpolate_t -= interpolate_i
-            interpolated_z_compensation = BedMesh.lerp(
-                interpolate_t, z_compensations[interpolate_i],
-                z_compensations[interpolate_i + 1])
-            return interpolated_z_compensation
-        else:
-            return 0
-
-    cmd_X_TWIST_COMPENSATE_MESH_help = \
-    "Compensate a mesh by applying the x" \
-    "twist compensation to the given raw mesh"
-
-    def cmd_X_TWIST_COMPENSATE_MESH(self, gcmd):
-        # get the mesh name from the gcode command
-        raw_mesh_name = gcmd.get('MESH_NAME', None)
-        Helpers.check_non_empty_param(raw_mesh_name, gcmd, 'MESH_NAME')
-
-        # get the compensation profile name from the gcode command
-        compensation_name = gcmd.get('COMPENSATION_NAME', None)
-        Helpers.check_non_empty_param(
-            compensation_name, gcmd, 'COMPENSATION_NAME')
-
-        # get the bed_mesh object, then the bed_mesh profile manager
-        bed_mesh = self.printer.lookup_object('bed_mesh', None)
-        if not bed_mesh:
-            raise gcmd.error(
-                "[bed_mesh] is not specified in your printer configuration")
-        bed_mesh_pmgr = bed_mesh.pmgr
-        # load specified bed mesh as active bed mesh
-        bed_mesh_pmgr.load_profile(raw_mesh_name)
-        # get the active bed mesh
-        active_bed_mesh = bed_mesh.get_mesh()
-        # modify the probed matrix by applying the x twist compensation
-        #modified_probed_matrix = self._modify_probed_matrix(
-        #    active_bed_mesh, compensation_name)
-
-        enabled = self.pmgr.get_is_enabled()
-        if enabled or compensation_name is not None:
-            current_profile = \
-                self.pmgr.get_current_profile() \
-                if compensation_name is None \
-                else self.pmgr.get_profile(compensation_name)
-            z_compensations = current_profile.z_compensations
-        modified_probed_matrix = self._modify_probed_matrix_XY(active_bed_mesh, z_compensations[0], z_compensations[1])
-
-        # update active mesh with modified probed matrix, save under new name
-        #compensated_mesh_name = \
-        #    raw_mesh_name + '_compensated_' + compensation_name
-        active_bed_mesh.build_mesh(modified_probed_matrix)
-        #bed_mesh_pmgr.save_profile(compensated_mesh_name)
-        bed_mesh_pmgr.save_profile(raw_mesh_name)
-
-    def _modify_probed_matrix_XY(self, bed_mesh, xz, yz):
-        
-        probed_matrix = bed_mesh.get_probed_matrix()
-        compensated_matrix = []
-        row_count = len(probed_matrix) - 1
-        yz_step = yz / row_count
-        col_count = len(probed_matrix[0]) - 1
-        xz_step = xz / col_count
-
-        for row_index in range(len(probed_matrix)):
-            compensated_row = []
-            row = probed_matrix[row_index]
-            for col_index in range(len(row)):
-                z = row[col_index]
-                compensated_z = z + (xz_step * col_index) + (yz_step * row_index)
-                compensated_row.append(compensated_z)
-            compensated_matrix.append(compensated_row)
-
-        compensated_matrix = tuple(tuple(row) for row in compensated_matrix)
-        return compensated_matrix
-
-    def _modify_probed_matrix(self, bed_mesh, compensation_profile_name):
-        # do compensating, by modifying z values in probed matrix
-        # probed matrix is a list of rows of probed z values
-        # eg. probed_matrix[0][0] = bottom left corner of mesh, z value
-        probed_matrix = bed_mesh.get_probed_matrix()
-        compensated_matrix = []
-        for row_index in range(len(probed_matrix)):
-            compensated_row = []
-            row = probed_matrix[row_index]
-            for col_index in range(len(row)):
-                z = row[col_index]
-                x_coord = self._get_mesh_point_x_coord(col_index, bed_mesh)
-                compensated_z = z + \
-                    self.get_z_compensation_value(
-                        x_coord, compensation_profile_name)
-                compensated_row.append(compensated_z)
-            compensated_matrix.append(compensated_row)
-        # compensated_matrix is a list of list
-        # bed_mesh expects tuple of tuple hence convert
-        compensated_matrix = tuple(tuple(row) for row in compensated_matrix)
-        return compensated_matrix
-
-    def _get_mesh_point_x_coord(self, col_index, mesh):
-        # returns the x coordinate of the given column index
-        # in the probed matrix
-        x_min = mesh.mesh_x_min
-        x_range = mesh.mesh_x_max - mesh.mesh_x_min
-        x_step = x_range / (len(mesh.probed_matrix[0]) - 1)
-        return x_min + col_index * x_step
-
-    cmd_X_TWIST_COMPENSATE_STATUS_help = \
-        "Get the status of the x twist compensation"
-
-    def cmd_X_TWIST_COMPENSATE_STATUS(self, gcmd):
-        if (self.pmgr.get_is_enabled()):
-            profile = self.pmgr.get_current_profile()
-            profile_name = profile.name
-            profile_z_compensations = profile.z_compensations
-            profile_recommended_z_offset = profile.recommended_z_offset
-            gcmd.respond_info(
-                """
-                X twist compensation is enabled
-                Profile name: {}
-                Profile z compensations: {}
-                Profile recommended z offset: {}
-                """.format(profile_name,
-                    profile_z_compensations, profile_recommended_z_offset))
-        else:
-            gcmd.respond_info(
-                "X twist compensation is disabled, "\
-                "load a profile using X_TWIST_PROFILE_LOAD"
-            )
-
-
-class Calibrater:
-    def __init__(self, config, pmgr, calibrater_config):
-        # setup self attributes
-        self.printer = config.get_printer()
-        self.gcode = self.printer.lookup_object('gcode')
-        self.pmgr = pmgr
-        self.probe = None
-        # probe settings are set to none, until they are available
-        self.lift_speed, self.probe_x_offset, self.probe_y_offset, \
-            self.stored_probe_z_offset = None, None, None, None
-        self.printer.register_event_handler("klippy:connect",
-                                            self._handle_connect(config))
-        self.speed = calibrater_config['speed']
-        self.horizontal_move_z = calibrater_config['horizontal_move_z']
-        self.start_point = (
-            calibrater_config['start_x'], calibrater_config['y'])
-        self.end_point = (calibrater_config['end_x'], calibrater_config['y'])
-        self.results = []
-        self.current_point_index = None
-        self.gcmd = None
-
-        # register gcode handlers
-        self._register_gcode_handlers()
-
-    def _handle_connect(self, config):
-        # gets probe settings when they are available
-        def callback():
-            self.probe = self.printer.lookup_object('probe', None)
-            if (self.probe is None):
-                raise config.error(
-                    "X_TWIST_COMPENSATION requires [probe] to be defined")
-            self.lift_speed = self.probe.get_lift_speed()
-            self.probe_x_offset, self.probe_y_offset, \
-                self.stored_probe_z_offset = self.probe.get_offsets()
-        return callback
-
-    def _register_gcode_handlers(self):
-        # register gcode handlers
-        self.gcode = self.printer.lookup_object('gcode')
-        self.gcode.register_command(
-            'X_TWIST_CALIBRATE', self.cmd_X_TWIST_CALIBRATE,
-            desc=self.cmd_X_TWIST_CALIBRATE_help)
-
-    cmd_X_TWIST_CALIBRATE_help = """
-    Performs the x twist calibration wizard
-    Measure z probe offset at n points along the x axis,
-    and calculate x twist compensation
-    Specify PROFILE_NAME=<PROFILE_NAME> - optional, default is 'default'
-    """
-
-    def cmd_X_TWIST_CALIBRATE(self, gcmd):
-        self.gcmd = gcmd
-        # performs the x twist calibration wizard
-        # get params from command
-        profile_name = gcmd.get('PROFILE_NAME', DEFAULT_PROFILE_NAME)
-        n_points = gcmd.get_int('N_POINTS', DEFAULT_N_POINTS)
-
-        # check for valid profile_name
-        Helpers.check_non_empty_param(profile_name, self.gcmd, 'PROFILE_NAME')
-        # check for valid n_points
-        if n_points is None or n_points < 3:
-            raise self.gcmd.error(
-                "N_POINTS to probe must be at least 3")
-
-        # clear the current profile
-        self.pmgr.clear_profile()
-
-        # calculate some values
-        x_range = self.end_point[0] - self.start_point[0]
-        interval_dist = x_range / (n_points - 1)
-        nozzle_points = self._calculate_nozzle_points(n_points, interval_dist)
-        probe_points = self._calculate_probe_points(
-            nozzle_points, self.probe_x_offset, self.probe_y_offset)
-
-        # verify no other manual probe is in progress
-        ManualProbe.verify_no_manual_probe(self.printer)
-
-        # begin calibration
-        self.current_point_index = 0
-        self._calibration(
-            profile_name, probe_points, nozzle_points, interval_dist)
-
-    def _calculate_nozzle_points(self, n_points, interval_dist):
-        # calculate the points to put the probe at, returned as a list of tuples
-        nozzle_points = []
-        for i in range(n_points):
-            x = self.start_point[0] + i * interval_dist
-            y = self.start_point[1]
-            nozzle_points.append((x, y))
-        return nozzle_points
-
-    def _calculate_probe_points(self, nozzle_points,
-        probe_x_offset, probe_y_offset):
-        # calculate the points to put the nozzle at
-        # returned as a list of tuples
-        probe_points = []
-        for point in nozzle_points:
-            x = point[0] - probe_x_offset
-            y = point[1] - probe_y_offset
-            probe_points.append((x, y))
-        return probe_points
-
-    def _move_helper(self, target_coordinates, override_speed=None):
-        # pad target coordinates
-        target_coordinates = \
-            (target_coordinates[0], target_coordinates[1], None) \
-            if len(target_coordinates) == 2 else target_coordinates
-        toolhead = self.printer.lookup_object('toolhead')
-        speed = self.speed if target_coordinates[2] == None else self.lift_speed
-        speed = override_speed if override_speed is not None else speed
-        toolhead.manual_move(target_coordinates, speed)
-
-    def _calibration(self, profile_name, probe_points, nozzle_points, interval):
-        # begin the calibration process
-        self.gcmd.respond_info("X_TWIST_CALIBRATE: Probing point %d of %d" % (
-            self.current_point_index + 1, len(probe_points)))
-
-        # horizontal_move_z (to prevent probe trigger or hitting bed)
-        self._move_helper((None, None, self.horizontal_move_z))
-
-        # move to point to probe
-        self._move_helper((probe_points[self.current_point_index]
-                          [0], probe_points[self.current_point_index][1], None))
-
-        # probe the point
-        self.probe.run_probe(self.gcmd)
-
-        # horizontal_move_z (to prevent probe trigger or hitting bed)
-        self._move_helper((None, None, self.horizontal_move_z))
-
-        # move the nozzle over the probe point
-        self._move_helper((nozzle_points[self.current_point_index]))
-
-        # start the manual (nozzle) probe
-        ManualProbe.ManualProbeHelper(
-            self.printer, self.gcmd,
-            self._manual_probe_callback_factory(profile_name,
-            probe_points, nozzle_points, interval))
-
-    def _manual_probe_callback_factory(self, profile_name, probe_points,
-        nozzle_points, interval):
-        # returns a callback function for the manual probe
-        is_end = self.current_point_index == len(probe_points) - 1
-
-        def callback(kin_pos):
-            if kin_pos is None:
-                # probe was cancelled
-                self.gcmd.respond_info(
-                    "X_TWIST_CALIBRATE: Probe cancelled, calibration aborted")
-                return
-            z_offset = self.stored_probe_z_offset - kin_pos[2]
-            self.results.append(z_offset)
-            if is_end:
-                # end of calibration
-                self._finalize_calibration(profile_name)
-            else:
-                # move to next point
-                self.current_point_index += 1
-                self._calibration(
-                    profile_name, probe_points, nozzle_points, interval)
-        return callback
-
-    def _finalize_calibration(self, profile_name):
-        # finalize the calibration process
-        # calculate average of results
-        avg = sum(self.results) / len(self.results)
-        # subtract average from each result
-        # so that they are independent of z_offset
-        self.results = [avg - x for x in self.results]
-        # create a new profile using profile manager
-        self.pmgr.create_profile(profile_name, self.results, avg)
-        # recommend z offset to user
-        self.gcmd.respond_info(
-            "X_TWIST_CALIBRATE: Calibration complete, reccomended z_offset: %f"
-            % (avg))
-
-
-class Profile:
-    PROFILE_OPTIONS = {
-        'z_compensations': str, 'recommended_z_offset': float
-    }
-
-    def __init__(self, name, z_compensations, recommended_z_offset):
-        self.name = name
-        self.z_compensations = z_compensations
-        self.recommended_z_offset = recommended_z_offset
-
-
-class ProfileManager:
-    def __init__(self, config, x_twist_compensation):
-        # setup self attributes
-        self.name = config.get_name()
-        self.printer = config.get_printer()
-        self.x_twist_compensation = x_twist_compensation
-        self.profiles = {}
-        self.gcode = self.printer.lookup_object('gcode')
-        self.current_profile = None
-
-        # fetch the stored profiles
-        self._fetch_stored_profiles(config)
-        logging.info('stored profiles: %s', self.profiles)
-
-        # register gcode handlers
-        self._register_gcode_handlers()
-
-    def get_is_enabled(self):
-        # returns
-        return self.current_profile is not None
-
-    def get_current_profile(self):
-        # return the current profile
-        if self.current_profile is None:
-            raise self.gcode.error(
-                "No X_TWIST_PROFILE loaded")
-        return self.current_profile
-
-    def get_profiles(self):
-        #  dictionary of profiles loaded from printer.cfg, key is profile name
-        return self.profiles
-
-    def get_profile(self, profile_name):
-        # attempt to get profile from self.profiles
-        # throws error if profile does not exist or is corrupt
-        logging.info('attempting to get profile name %s', profile_name)
-        logging.info('available profiles: %s', self.profiles)
-        profile = self.profiles.get(profile_name, None)
-        if profile is None:
-            raise self.gcode.error(
-                "X_TWIST_PROFILE %s does not exist" % (profile_name))
-        z_compensations = profile.get('z_compensations', None)
-        if z_compensations is None:
-            raise self.gcode.error(
-                "X_TWIST_PROFILE %s does not have z_compensations"
-                % (profile_name))
-        recommended_z_offset = profile.get('recommended_z_offset', None)
-        if recommended_z_offset is None:
-            raise self.gcode.error(
-                "X_TWIST_PROFILE %s does not have recommended_z_offset"
-                % (profile_name))
-        return Profile(profile_name, z_compensations, recommended_z_offset)
-
-    def _fetch_stored_profiles(self, config):
-        # fetch stored profiles in printer.cfg
-        # (using prefix of "x_twist_compensation"")
-        stored_profiles = config.get_prefix_sections(self.name)
-        stored_profiles = [
-            stored_profile for stored_profile in stored_profiles
-            if stored_profile.get_name() != self.name
-            ]
-        # add stored profiles to self.profiles
-        for stored_profile in stored_profiles:
-            prefixed_name = stored_profile.get_name()
-            # remove prefix from name
-            name = prefixed_name.split(' ', 1)[1]
-            self.profiles[name] = {}
-            for option, option_type in Profile.PROFILE_OPTIONS.items():
-                if option_type == float:
-                    self.profiles[name][option] = stored_profile.getfloat(
-                        option)
-                elif option_type == str:
-                    value = stored_profile.get(option)
-                    if option == 'z_compensations':
-                        self.profiles[name][option] = \
-                        Helpers.parse_comma_separated_floats(value)
-                    else:
-                        self.profiles[name][option] = stored_profile.get(
-                            option)
-
-    def _register_gcode_handlers(self):
-        # register gcode handlers
-        self.gcode.register_command(
-            'X_TWIST_PROFILE', self.cmd_X_TWIST_PROFILE,
-            desc=self.cmd_X_TWIST_PROFILE_help)
-        self.gcode.register_command(
-            'X_TWIST_PROFILE_LOAD', self.cmd_X_TWIST_PROFILE_LOAD,
-            desc=self.cmd_X_TWIST_PROFILE_LOAD_help)
-        self.gcode.register_command(
-            'X_TWIST_PROFILE_SAVE', self.cmd_X_TWIST_PROFILE_SAVE,
-            desc=self.cmd_X_TWIST_PROFILE_SAVE_help)
-        self.gcode.register_command(
-            'X_TWIST_PROFILE_DELETE', self.cmd_X_TWIST_PROFILE_DELETE,
-            desc=self.cmd_X_TWIST_PROFILE_DELETE_help)
-        self.gcode.register_command(
-            'X_TWIST_PROFILE_CLEAR', self.cmd_X_TWIST_PROFILE_CLEAR,
-            desc=self.cmd_X_TWIST_PROFILE_CLEAR_help)
-
-    def create_profile(self, profile_name, z_compensations,
-        recommended_z_offset):
-        # create a new profile
-        new_profile = Profile(
-            profile_name, z_compensations, recommended_z_offset)
-        # save the profile
-        self._save_profile(new_profile)
-
-    def load_profile(self, profile_name):
-        # set the current profile
-        self.current_profile = self.get_profile(profile_name)
-
-    def clear_profile(self):
-        # clear the current profile
-        self.current_profile = None
-
-    def delete_profile(self, profile_name):
-        # try getting the profile to ensure it exists
-        self.get_profile(profile_name)
-        # remove the profile from config file
-        configfile = self.printer.lookup_object('configfile')
-        configfile.remove_section('%s %s' % (self.name, profile_name))
-        # remove the profile from self.profiles
-        profiles = dict(self.profiles)
-        del profiles[profile_name]
-        self.profiles = profiles
-        # inform user to save deletion
-        self.gcode.respond_info(
-            "Profile [%s] removed from storage for this session.\n"
-            "The SAVE_CONFIG command will update the printer\n"
-            "configuration and restart the printer" % (profile_name))
-
-    def _save_profile(self, profile):
-        profile_name = profile.name
-        config_name = '%s %s' % (self.name, profile_name)
-        configfile = self.printer.lookup_object('configfile')
-        # save the profile to config file
-        # also save to self.profiles, make sure immutable by making a copy
-        profiles = dict(self.profiles)
-        profiles[profile_name] = new_profile = {}
-        for option, option_type in Profile.PROFILE_OPTIONS.items():
-            value = getattr(profile, option)
-            if option_type == float:
-                value = float(value)
-                new_profile[option] = value  # save to self.profiles
-                configfile.set(config_name, option,
-                               Helpers.format_float_to_n_decimals(value))
-            elif option_type == str:
-                if option == 'z_compensations':
-                    # convert to list of floats
-                    value = [float(x) for x in value]
-                    new_profile[option] = value  # save to self.profiles
-                    value_as_str = [Helpers.format_float_to_n_decimals(
-                        x) for x in value]  # convert to list of strs
-                    configfile.set(config_name, option, ', '.join(
-                        value_as_str))  # store as comma separated
-                else:
-                    new_profile[option] = value  # save to self.profiles
-                    configfile.set(config_name, option, value)
-        # inform user to save changes
-        self.gcode.respond_info(
-            "X_TWIST_COMPENSATION state has been saved to profile [%s]\n"
-            "for the current session.  The SAVE_CONFIG command will\n"
-            "update the printer config file and restart the printer."
-            % (profile_name))
-
-    def save_current_profile(self, profile_name):
-        # get the current profile
-        profile = self.get_current_profile()
-        # set the name
-        profile.name = profile_name
-        # save the profile
-        self._save_profile(profile)
-
-    cmd_X_TWIST_PROFILE_LOAD_help = \
-        "Loads a saved mesh as the active mesh"
-
-    def cmd_X_TWIST_PROFILE_LOAD(self, gcmd):
-        # loads a saved mesh as the active mesh
-        profile_name = gcmd.get('NAME', None)
-        Helpers.check_non_empty_param(profile_name, gcmd, 'NAME')
-        self.load_profile(profile_name)
-
-    cmd_X_TWIST_PROFILE_CLEAR_help = \
-        "Clears the active mesh"
-
-    def cmd_X_TWIST_PROFILE_CLEAR(self, gcmd):
-        # clears the active mesh
-        self.clear_profile()
-
-    cmd_X_TWIST_PROFILE_SAVE_help = \
-        "Saves the active mesh to the config file"
-
-    def cmd_X_TWIST_PROFILE_SAVE(self, gcmd):
-        # saves the active mesh to the config file
-        profile_name = gcmd.get('NAME', None)
-        Helpers.check_non_empty_param(profile_name, gcmd, 'NAME')
-        self.save_current_profile(profile_name)
-
-    cmd_X_TWIST_PROFILE_DELETE_help = \
-        "Deletes a saved profile from the config file"
-
-    def cmd_X_TWIST_PROFILE_DELETE(self, gcmd):
-        # deletes a saved mesh from the config file
-        profile_name = gcmd.get('NAME', None)
-        Helpers.check_non_empty_param(profile_name, gcmd, 'NAME')
-        self.delete_profile(profile_name)
-
-    cmd_X_TWIST_PROFILE_help = \
-        "Prints information on how to use the X_TWIST_PROFILE command"
-
-    def cmd_X_TWIST_PROFILE(self, gcmd):
-        raise self.gcode.error(
-            """
-            Please follow the following syntax:
-            X_TWIST_PROFILE_LOAD NAME=<PROFILE_NAME>
-            X_TWIST_PROFILE_SAVE NAME=<PROFILE_NAME>
-            X_TWIST_PROFILE_DELETE NAME=<PROFILE_NAME>
-            X_TWIST_PROFILE_CLEAR
-            """
-        )
-
-
-class Helpers:
-    @staticmethod
-    def format_float_to_n_decimals(raw_float, n=6):
-        # format float to n decimals, defaults to 6
-        return "{:.{}f}".format(raw_float, n)
-
-    @staticmethod
-    def parse_comma_separated_floats(comma_separated_floats):
-        # parse comma separated floats into list of floats
-        return [float(value) for value in comma_separated_floats.split(', ')]
-
-    @staticmethod
-    def check_non_empty_param(param_str, gcmd, param_name=None):
-        # throws gcmd error if parameter is None or just spaces
-        if param_str is None or not param_str.strip():
-            error = "Parameter [%s] is required" % (
-                param_name) if param_name else "Parameter is required"
-            raise gcmd.error(error)
-
-# klipper's entry point using [x_twist_compensation] section in printer.cfg
-
-
-def load_config(config):
-    return XTwistCompensation(config)