mirror of
https://github.com/QIDITECH/klipper.git
synced 2026-01-31 07:58:42 +03:00
plus4的klipper版本
This commit is contained in:
whb0514
@@ -93,7 +93,7 @@ class TMCErrorCheck:
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self.mcu_tmc = mcu_tmc
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self.fields = mcu_tmc.get_fields()
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self.check_timer = None
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self.last_drv_status = self.last_status = None
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self.last_drv_status = self.last_drv_fields = None
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# Setup for GSTAT query
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reg_name = self.fields.lookup_register("drv_err")
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if reg_name is not None:
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@@ -109,9 +109,6 @@ class TMCErrorCheck:
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# TMC2130 driver quirks
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self.clear_gstat = False
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cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
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# elif name_parts[0] == 'tmc2240':
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# self.clear_gstat = False
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# cs_actual_mask = self.fields.all_fields[reg_name]["cs_actual"]
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elif name_parts[0] == 'tmc2660':
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# TMC2660 driver quirks
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self.irun_field = "cs"
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@@ -125,6 +122,12 @@ class TMCErrorCheck:
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if f in err_fields:
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err_mask |= self.fields.all_fields[reg_name][f]
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self.drv_status_reg_info = [0, reg_name, mask, err_mask, cs_actual_mask]
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# Setup for temperature query
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self.adc_temp = None
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self.adc_temp_reg = self.fields.lookup_register("adc_temp")
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if self.adc_temp_reg is not None:
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pheaters = self.printer.load_object(config, 'heaters')
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pheaters.register_monitor(config)
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def _query_register(self, reg_info, try_clear=False):
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last_value, reg_name, mask, err_mask, cs_actual_mask = reg_info
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cleared_flags = 0
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@@ -159,16 +162,27 @@ class TMCErrorCheck:
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fmt = self.fields.pretty_format(reg_name, val)
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raise self.printer.command_error("TMC '%s' reports error: %s"
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% (self.stepper_name, fmt))
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if "uv_cp" in fmt:
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try_clear = True
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if try_clear and val & err_mask:
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try_clear = False
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cleared_flags |= val & err_mask
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self.mcu_tmc.set_register(reg_name, val & err_mask)
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return cleared_flags
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def _query_temperature(self):
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try:
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self.adc_temp = self.mcu_tmc.get_register(self.adc_temp_reg)
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except self.printer.command_error as e:
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# Ignore comms error for temperature
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self.adc_temp = None
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return
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def _do_periodic_check(self, eventtime):
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try:
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self._query_register(self.drv_status_reg_info)
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if self.gstat_reg_info is not None:
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self._query_register(self.gstat_reg_info)
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if self.adc_temp_reg is not None:
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self._query_temperature()
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except self.printer.command_error as e:
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self.printer.invoke_shutdown(str(e))
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return self.printer.get_reactor().NEVER
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@@ -197,14 +211,16 @@ class TMCErrorCheck:
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return False
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def get_status(self, eventtime=None):
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if self.check_timer is None:
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return {'drv_status': None}
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return {'drv_status': None, 'temperature': None}
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temp = None
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if self.adc_temp is not None:
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temp = round((self.adc_temp - 2038) / 7.7, 2)
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last_value, reg_name = self.drv_status_reg_info[:2]
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if last_value != self.last_drv_status:
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self.last_drv_status = last_value
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fields = self.fields.get_reg_fields(reg_name, last_value)
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fields = {n: v for n, v in fields.items() if v}
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self.last_status = {'drv_status': fields}
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return self.last_status
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self.last_drv_fields = {n: v for n, v in fields.items() if v}
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return {'drv_status': self.last_drv_fields, 'temperature': temp}
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######################################################################
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@@ -248,7 +264,8 @@ class TMCCommandHelper:
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desc=self.cmd_SET_TMC_CURRENT_help)
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def _init_registers(self, print_time=None):
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# Send registers
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for reg_name, val in self.fields.registers.items():
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for reg_name in list(self.fields.registers.keys()):
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val = self.fields.registers[reg_name] # Val may change during loop
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self.mcu_tmc.set_register(reg_name, val, print_time)
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cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
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def cmd_INIT_TMC(self, gcmd):
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@@ -261,7 +278,18 @@ class TMCCommandHelper:
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reg_name = self.fields.lookup_register(field_name, None)
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if reg_name is None:
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raise gcmd.error("Unknown field name '%s'" % (field_name,))
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value = gcmd.get_int('VALUE')
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value = gcmd.get_int('VALUE', None)
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velocity = gcmd.get_float('VELOCITY', None, minval=0.)
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tmc_frequency = self.mcu_tmc.get_tmc_frequency()
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if tmc_frequency is None and velocity is not None:
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raise gcmd.error("VELOCITY parameter not supported by this driver")
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if (value is None) == (velocity is None):
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raise gcmd.error("Specify either VALUE or VELOCITY")
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if velocity is not None:
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step_dist = self.stepper.get_step_dist()
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mres = self.fields.get_field("mres")
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value = TMCtstepHelper(step_dist, mres, tmc_frequency,
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velocity)
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reg_val = self.fields.set_field(field_name, value)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.mcu_tmc.set_register(reg_name, reg_val, print_time)
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@@ -405,17 +433,32 @@ class TMCCommandHelper:
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, gcmd):
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logging.info("DUMP_TMC %s", self.name)
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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gcmd.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in self.read_registers:
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reg_name = gcmd.get('REGISTER', None)
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if reg_name is not None:
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reg_name = reg_name.upper()
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val = self.fields.registers.get(reg_name)
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if (val is not None) and (reg_name not in self.read_registers):
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# write-only register
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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elif reg_name in self.read_registers:
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# readable register
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val = self.mcu_tmc.get_register(reg_name)
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if self.read_translate is not None:
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reg_name, val = self.read_translate(reg_name, val)
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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else:
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raise gcmd.error("Unknown register name '%s'" % (reg_name))
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else:
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gcmd.respond_info("========== Write-only registers ==========")
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for reg_name, val in self.fields.registers.items():
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if reg_name not in self.read_registers:
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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gcmd.respond_info("========== Queried registers ==========")
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for reg_name in self.read_registers:
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val = self.mcu_tmc.get_register(reg_name)
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if self.read_translate is not None:
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reg_name, val = self.read_translate(reg_name, val)
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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gcmd.respond_info("========== Queried registers ==========")
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for reg_name in self.read_registers:
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val = self.mcu_tmc.get_register(reg_name)
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if self.read_translate is not None:
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reg_name, val = self.read_translate(reg_name, val)
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gcmd.respond_info(self.fields.pretty_format(reg_name, val))
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######################################################################
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@@ -440,7 +483,7 @@ class TMCVirtualPinHelper:
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self.diag_pin_field = None
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self.mcu_endstop = None
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self.en_pwm = False
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self.pwmthrs = 0
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self.pwmthrs = self.coolthrs = 0
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# Register virtual_endstop pin
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name_parts = config.get_name().split()
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ppins = self.printer.lookup_object("pins")
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@@ -455,13 +498,6 @@ class TMCVirtualPinHelper:
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if self.diag_pin is None:
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raise ppins.error("tmc virtual endstop requires diag pin config")
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# Setup for sensorless homing
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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self.en_pwm = not self.fields.get_field("en_spreadcycle")
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self.pwmthrs = self.fields.get_field("tpwmthrs")
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else:
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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self.pwmthrs = 0
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self.printer.register_event_handler("homing:homing_move_begin",
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self.handle_homing_move_begin)
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self.printer.register_event_handler("homing:homing_move_end",
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@@ -471,21 +507,24 @@ class TMCVirtualPinHelper:
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def handle_homing_move_begin(self, hmove):
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if self.mcu_endstop not in hmove.get_mcu_endstops():
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return
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self.pwmthrs = self.fields.get_field("tpwmthrs")
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self.coolthrs = self.fields.get_field("tcoolthrs")
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reg = self.fields.lookup_register("en_pwm_mode", None)
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if reg is None:
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logging.info("##############################")
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# On "stallguard4" drivers, "stealthchop" must be enabled
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self.en_pwm = not self.fields.get_field("en_spreadcycle")
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tp_val = self.fields.set_field("tpwmthrs", 0)
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self.mcu_tmc.set_register("TPWMTHRS", tp_val)
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val = self.fields.set_field("en_spreadcycle", 0)
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else:
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# On earlier drivers, "stealthchop" must be disabled
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logging.info("******************************")
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self.en_pwm = self.fields.get_field("en_pwm_mode")
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self.fields.set_field("en_pwm_mode", 0)
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val = self.fields.set_field(self.diag_pin_field, 1)
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self.mcu_tmc.set_register("GCONF", val)
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tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
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self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
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if self.coolthrs == 0:
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tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
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self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
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def handle_homing_move_end(self, hmove):
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if self.mcu_endstop not in hmove.get_mcu_endstops():
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return
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@@ -498,7 +537,7 @@ class TMCVirtualPinHelper:
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self.fields.set_field("en_pwm_mode", self.en_pwm)
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val = self.fields.set_field(self.diag_pin_field, 0)
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self.mcu_tmc.set_register("GCONF", val)
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tc_val = self.fields.set_field("tcoolthrs", 0)
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tc_val = self.fields.set_field("tcoolthrs", self.coolthrs)
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self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
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@@ -506,10 +545,35 @@ class TMCVirtualPinHelper:
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# Config reading helpers
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######################################################################
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# Helper to initialize the wave table from config or defaults
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def TMCWaveTableHelper(config, mcu_tmc):
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set_config_field = mcu_tmc.get_fields().set_config_field
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set_config_field(config, "mslut0", 0xAAAAB554)
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set_config_field(config, "mslut1", 0x4A9554AA)
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set_config_field(config, "mslut2", 0x24492929)
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set_config_field(config, "mslut3", 0x10104222)
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set_config_field(config, "mslut4", 0xFBFFFFFF)
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set_config_field(config, "mslut5", 0xB5BB777D)
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set_config_field(config, "mslut6", 0x49295556)
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set_config_field(config, "mslut7", 0x00404222)
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set_config_field(config, "w0", 2)
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set_config_field(config, "w1", 1)
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set_config_field(config, "w2", 1)
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set_config_field(config, "w3", 1)
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set_config_field(config, "x1", 128)
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set_config_field(config, "x2", 255)
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set_config_field(config, "x3", 255)
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set_config_field(config, "start_sin", 0)
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set_config_field(config, "start_sin90", 247)
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# Helper to configure and query the microstep settings
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def TMCMicrostepHelper(config, mcu_tmc):
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fields = mcu_tmc.get_fields()
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stepper_name = " ".join(config.get_name().split()[1:])
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if not config.has_section(stepper_name):
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raise config.error(
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"Could not find config section '[%s]' required by tmc driver"
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% (stepper_name,))
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stepper_config = ms_config = config.getsection(stepper_name)
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if (stepper_config.get('microsteps', None, note_valid=False) is None
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and config.get('microsteps', None, note_valid=False) is not None):
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@@ -520,41 +584,36 @@ def TMCMicrostepHelper(config, mcu_tmc):
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fields.set_field("mres", mres)
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fields.set_field("intpol", config.getboolean("interpolate", True))
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# Helper to configure "stealthchop" mode
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# Helper for calculating TSTEP based values from velocity
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def TMCtstepHelper(step_dist, mres, tmc_freq, velocity):
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if velocity > 0.:
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step_dist_256 = step_dist / (1 << mres)
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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return max(0, min(0xfffff, threshold))
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else:
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return 0xfffff
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# Helper to configure stealthChop-spreadCycle transition velocity
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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fields = mcu_tmc.get_fields()
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en_pwm_mode = False
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if velocity:
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velocity = config.getfloat('stealthchop_threshold', None, minval=0.)
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tpwmthrs = 0xfffff
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if velocity is not None:
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en_pwm_mode = True
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stepper_name = " ".join(config.get_name().split()[1:])
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sconfig = config.getsection(stepper_name)
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rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
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step_dist = rotation_dist / steps_per_rotation
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step_dist_256 = step_dist / (1 << fields.get_field("mres"))
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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fields.set_field("tpwmthrs", max(0, min(0xfffff, threshold)))
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en_pwm_mode = True
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mres = fields.get_field("mres")
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tpwmthrs = TMCtstepHelper(step_dist, mres, tmc_freq, velocity)
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fields.set_field("tpwmthrs", tpwmthrs)
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reg = fields.lookup_register("en_pwm_mode", None)
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if reg is not None:
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fields.set_field("en_pwm_mode", en_pwm_mode)
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else:
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# TMC2208 uses en_spreadCycle
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fields.set_field("en_spreadcycle", not en_pwm_mode)
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# Helper to configure "stealthchop" mode
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def TMC2240StealthchopHelper(config, mcu_tmc, tmc_freq):
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fields = mcu_tmc.get_fields()
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en_pwm_mode = True
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if velocity:
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stepper_name = " ".join(config.get_name().split()[1:])
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sconfig = config.getsection(stepper_name)
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rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
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step_dist = rotation_dist / steps_per_rotation
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step_dist_256 = step_dist / (1 << fields.get_field("mres"))
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threshold = int(tmc_freq * step_dist_256 / velocity + .5)
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fields.set_field("tpwmthrs", max(0, min(0xfffff, threshold)))
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en_pwm_mode = False
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reg = fields.lookup_register("en_pwm_mode", None)
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if reg is not None:
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fields.set_field("en_pwm_mode", en_pwm_mode)
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