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tmc: Save and restore thigh during sensorless homing

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Make sure thigh is set to zero during sensorless homing, as it would
not make sense for it to be enabled.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2024-05-14 21:27:01 -04:00
parent faee2c0e52
commit 2efde0111e
2 changed files with 23 additions and 17 deletions
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19
klippy/extras/tmc.py
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@@ -479,7 +479,7 @@ class TMCVirtualPinHelper:
self.diag_pin_field = None
self.mcu_endstop = None
self.en_pwm = False
self.pwmthrs = self.coolthrs = 0
self.pwmthrs = self.coolthrs = self.thigh = 0
# Register virtual_endstop pin
name_parts = config.get_name().split()
ppins = self.printer.lookup_object("pins")
@@ -503,8 +503,8 @@ class TMCVirtualPinHelper:
def handle_homing_move_begin(self, hmove):
if self.mcu_endstop not in hmove.get_mcu_endstops():
return
# Enable/disable stealthchop
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:
# On "stallguard4" drivers, "stealthchop" must be enabled
@@ -518,12 +518,21 @@ class TMCVirtualPinHelper:
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)
# Enable tcoolthrs (if not already)
self.coolthrs = self.fields.get_field("tcoolthrs")
if self.coolthrs == 0:
tc_val = self.fields.set_field("tcoolthrs", 0xfffff)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
# Disable thigh
reg = self.fields.lookup_register("thigh", None)
if reg is not None:
self.thigh = self.fields.get_field("thigh")
th_val = self.fields.set_field("thigh", 0)
self.mcu_tmc.set_register(reg, th_val)
def handle_homing_move_end(self, hmove):
if self.mcu_endstop not in hmove.get_mcu_endstops():
return
# Restore stealthchop/spreadcycle
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs)
@@ -533,8 +542,14 @@ 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)
# Restore tcoolthrs
tc_val = self.fields.set_field("tcoolthrs", self.coolthrs)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
# Restore thigh
reg = self.fields.lookup_register("thigh", None)
if reg is not None:
th_val = self.fields.set_field("thigh", self.thigh)
self.mcu_tmc.set_register(reg, th_val)
######################################################################