tmc: Fix order of init during sensorless homing

With commit 53b10d3 the setup of sensorless homing could occur before the driver was enabled which would cause the reinitialization of the driver settings to undo the sensorless homing setup. Use set_field() when setting the sensorless homing registers so that it wont conflict with a driver init. Signed-off-by: Kevin O'Connor <[email protected]>
astepkowski · Feb 28, 2021 · 1b989b8 · 1b989b8
1 parent 36ca639
commit 1b989b8
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
@@ -347,26 +347,30 @@ def handle_homing_move_begin(self, endstops):
         reg = self.fields.lookup_register("en_pwm_mode", None)
         if reg is None:
             # On "stallguard4" drivers, "stealthchop" must be enabled
-            self.mcu_tmc.set_register("TPWMTHRS", 0)
+            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
             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)
-        self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
+        tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff)
+        self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
     def handle_homing_move_end(self, endstops):
         if self.mcu_endstop not in endstops:
             return
         reg = self.fields.lookup_register("en_pwm_mode", None)
         if reg is None:
-            self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs)
+            tp_val = self.fields.set_field("TPWMTHRS", self.pwmthrs)
+            self.mcu_tmc.set_register("TPWMTHRS", tp_val)
             val = self.fields.set_field("en_spreadCycle", not self.en_pwm)
         else:
             self.fields.set_field("en_pwm_mode", self.en_pwm)
             val = self.fields.set_field(self.diag_pin_field, 0)
         self.mcu_tmc.set_register("GCONF", val)
-        self.mcu_tmc.set_register("TCOOLTHRS", 0)
+        tc_val = self.fields.set_field("TCOOLTHRS", 0)
+        self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
 
 
 ######################################################################

diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
@@ -208,6 +208,9 @@
 Fields["TPWMTHRS"] = {
     "TPWMTHRS":                 0xfffff << 0
 }
+Fields["TCOOLTHRS"] = {
+    "TCOOLTHRS":                0xfffff << 0
+}
 Fields["TSTEP"] = {
     "TSTEP":                    0xfffff << 0
 }