tmc: Remove virtual_enable support and replace with automatic support

Automatically detect if the stepper has a dedicated enable line.  If
it does not, then automatically enable virtual enable support.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

config/example-extras.cfg

@@ -1206,10 +1206,7 @@
 # Configure a TMC2130 stepper motor driver via SPI bus. To use this
 # feature, define a config section with a "tmc2130" prefix followed by
 # the name of the corresponding stepper config section (for example,
-# "[tmc2130 stepper_x]"). This also creates a
-# "tmc2130_stepper_x:virtual_enable" virtual pin which may be used as
-# the stepper's enable_pin (for enabling the driver via an SPI
-# message).
+# "[tmc2130 stepper_x]").
 #[tmc2130 stepper_x]
 #cs_pin:
 #   The pin corresponding to the TMC2130 chip select line. This pin
@@ -1271,10 +1268,7 @@
 # Configure a TMC2208 (or TMC2224) stepper motor driver via single
 # wire UART. To use this feature, define a config section with a
 # "tmc2208" prefix followed by the name of the corresponding stepper
-# config section (for example, "[tmc2208 stepper_x]"). This also
-# creates a "tmc2208_stepper_x:virtual_enable" virtual pin which may
-# be used as the stepper's enable_pin (for enabling the driver via a
-# UART message).
+# config section (for example, "[tmc2208 stepper_x]").
 #[tmc2208 stepper_x]
 #uart_pin:
 #   The pin connected to the TMC2208 PDN_UART line. This parameter
@@ -1331,10 +1325,7 @@
 # Configure a TMC2209 stepper motor driver via single wire UART. To
 # use this feature, define a config section with a "tmc2209" prefix
 # followed by the name of the corresponding stepper config section
-# (for example, "[tmc2209 stepper_x]"). This also creates a
-# "tmc2209_stepper_x:virtual_enable" virtual pin which may be used as
-# the stepper's enable_pin (for enabling the driver via a UART
-# message).
+# (for example, "[tmc2209 stepper_x]").
 #[tmc2209 stepper_x]
 #uart_pin:
 #tx_pin:
@@ -1380,10 +1371,7 @@
 # Configure a TMC2660 stepper motor driver via SPI bus. To use this
 # feature, define a config section with a tmc2660 prefix followed by
 # the name of the corresponding stepper config section (for example,
-# "[tmc2660 stepper_x]"). This also creates a
-# "tmc2660_stepper_x:virtual_enable" virtual pin which may be used as
-# the stepper's enable_pin (for enabling the driver via an SPI
-# message).
+# "[tmc2660 stepper_x]").
 #[tmc2660 stepper_x]
 #cs_pin:
 #   The pin corresponding to the TMC2660 chip select line. This pin
@@ -1455,10 +1443,7 @@
 # Configure a TMC5160 stepper motor driver via SPI bus. To use this
 # feature, define a config section with a "tmc5160" prefix followed by
 # the name of the corresponding stepper config section (for example,
-# "[tmc5160 stepper_x]"). This also creates a
-# "tmc5160_stepper_x:virtual_enable" virtual pin which may be used as
-# the stepper's enable_pin (for enabling the driver via an SPI
-# message).
+# "[tmc5160 stepper_x]").
 #[tmc5160 stepper_x]
 #cs_pin:
 #   The pin corresponding to the TMC5160 chip select line. This pin

config/generic-duet2-duex.cfg

@@ -86,7 +86,7 @@
 [stepper_x]
 step_pin: PD6
 dir_pin: PD11
-enable_pin: !PC6, tmc2660_stepper_x:virtual_enable
+enable_pin: !PC6
 step_distance: .0125
 endstop_pin: ^PC14
 position_endstop: 0
@@ -104,7 +104,7 @@ idle_current_percent: 20
 [stepper_y]
 step_pin: PD7
 dir_pin: !PD12
-enable_pin: !PC6, tmc2660_stepper_y:virtual_enable
+enable_pin: !PC6
 step_distance: .0125
 endstop_pin: ^PA2
 position_endstop: 0
@@ -122,7 +122,7 @@ idle_current_percent: 20
 [stepper_z]
 step_pin: PD8
 dir_pin: PD13
-enable_pin: !PC6, tmc2660_stepper_z:virtual_enable
+enable_pin: !PC6
 step_distance: .0025
 endstop_pin: ^PD29
 position_endstop: 0.5
@@ -140,7 +140,7 @@ sense_resistor: 0.051
 [stepper_z1]
 step_pin: PD0
 dir_pin: PD16
-enable_pin: !PC6, tmc2660_stepper_z1:virtual_enable
+enable_pin: !PC6
 step_distance: .0025
 
 [tmc2660 stepper_z1]
@@ -155,7 +155,7 @@ sense_resistor: 0.051
 [stepper_z2]
 step_pin: PD3
 dir_pin: !PD17
-enable_pin: !PC6, tmc2660_stepper_z2:virtual_enable
+enable_pin: !PC6
 step_distance: .0025
 
 [tmc2660 stepper_z2]
@@ -170,7 +170,7 @@ sense_resistor: 0.051
 [stepper_z3]
 step_pin: PD27
 dir_pin: !PC0
-enable_pin: !PC6, tmc2660_stepper_z3:virtual_enable
+enable_pin: !PC6
 step_distance: .0025
 
 [tmc2660 stepper_z3]
@@ -185,7 +185,7 @@ sense_resistor: 0.051
 [extruder]
 step_pin: PD5
 dir_pin: PA1
-enable_pin: !PC6, tmc2660_extruder:virtual_enable
+enable_pin: !PC6
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750
@@ -211,7 +211,7 @@ sense_resistor: 0.051
 [extruder1]
 step_pin: PD4
 dir_pin: PD9
-enable_pin: !PC6, tmc2660_extruder1:virtual_enable
+enable_pin: !PC6
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750
@@ -237,7 +237,7 @@ sense_resistor: 0.051
 [extruder2]
 step_pin: PD2
 dir_pin: !PD28
-enable_pin: !PC6, tmc2660_extruder2:virtual_enable
+enable_pin: !PC6
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750
@@ -263,7 +263,7 @@ sense_resistor: 0.051
 [extruder3]
 step_pin: PD1
 dir_pin: !PD22
-enable_pin: !PC6, tmc2660_extruder3:virtual_enable
+enable_pin: !PC6
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750

config/generic-duet2-maestro.cfg

@@ -6,7 +6,7 @@
 [stepper_x]
 step_pin: PC20
 dir_pin: PC18
-enable_pin: !PA1, tmc2208_stepper_x:virtual_enable
+enable_pin: !PA1
 step_distance: .0125
 endstop_pin: ^PA24
 position_endstop: 0
@@ -25,7 +25,7 @@ stealthchop_threshold: 250
 [stepper_y]
 step_pin: PC2
 dir_pin: PA8
-enable_pin: !PA1, tmc2208_stepper_y:virtual_enable
+enable_pin: !PA1
 step_distance: .0125
 endstop_pin: ^PB6
 position_endstop: 0
@@ -44,7 +44,7 @@ stealthchop_threshold: 250
 [stepper_z]
 step_pin: PC28
 dir_pin: PB4
-enable_pin: !PA1, tmc2208_stepper_z:virtual_enable
+enable_pin: !PA1
 step_distance: .0025
 endstop_pin: ^PC10
 position_endstop: 0.5
@@ -62,7 +62,7 @@ stealthchop_threshold: 30
 [extruder]
 step_pin: PC4
 dir_pin: PB7
-enable_pin: !PA1, tmc2208_extruder:virtual_enable
+enable_pin: !PA1
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750

config/generic-duet2.cfg

@@ -6,7 +6,7 @@
 [stepper_x]
 step_pin: PD6
 dir_pin: PD11
-enable_pin: !PC6, tmc2660_stepper_x:virtual_enable
+enable_pin: !PC6
 step_distance: .0125
 endstop_pin: ^PC14
 position_endstop: 0
@@ -22,7 +22,7 @@ sense_resistor: 0.051
 [stepper_y]
 step_pin: PD7
 dir_pin: !PD12
-enable_pin: !PC6, tmc2660_stepper_y:virtual_enable
+enable_pin: !PC6
 step_distance: .0125
 endstop_pin: ^PA2
 position_endstop: 0
@@ -38,7 +38,7 @@ sense_resistor: 0.051
 [stepper_z]
 step_pin: PD8
 dir_pin: PD13
-enable_pin: !PC6, tmc2660_stepper_z:virtual_enable
+enable_pin: !PC6
 step_distance: .0025
 endstop_pin: ^PD29
 #endstop_pin: PD10  # E0 endstop
@@ -56,7 +56,7 @@ sense_resistor: 0.051
 [extruder]
 step_pin: PD5
 dir_pin: PA1
-enable_pin: !PC6, tmc2660_extruder:virtual_enable
+enable_pin: !PC6
 step_distance: .002
 nozzle_diameter: 0.400
 filament_diameter: 1.750
@@ -80,7 +80,7 @@ sense_resistor: 0.051
 #[extruder1]
 #step_pin: PD4
 #dir_pin: PD9
-#enable_pin: !PC6, tmc2660_extruder1:virtual_enable
+#enable_pin: !PC6
 #heater_pin: !PA16
 #sensor_pin: PC12
 #...

docs/Config_Changes.md

@@ -6,6 +6,11 @@ All dates in this document are approximate.
 
 # Changes
 
+20191112: The tmc stepper driver virtual enable capability is now
+automatically enabled if the stepper does not have a dedicated stepper
+enable pin.  Remove references to tmcXXXX:virtual_enable from the
+config.
+
 20191107: The primary extruder config section must be specified as
 "extruder" and may no longer be specified as "extruder0". Gcode
 command templates that query the extruder status are now accessed via

klippy/extras/stepper_enable.py

@@ -12,6 +12,7 @@ class StepperEnablePin:
     def __init__(self, mcu_enable, enable_count=0):
         self.mcu_enable = mcu_enable
         self.enable_count = enable_count
+        self.is_dedicated = enable_count == 0
     def set_enable(self, print_time):
         if not self.enable_count:
             self.mcu_enable.set_digital(print_time, 1)
@@ -25,6 +26,7 @@ class StepperEnablePin:
 class StepperMultiEnablePin:
     def __init__(self, enable_list):
         self.enable_list = enable_list
+        self.is_dedicated = False
     def set_enable(self, print_time):
         for en in self.enable_list:
             en.set_enable(print_time)
@@ -45,6 +47,8 @@ def lookup_enable_pin(ppins, pin_list):
             mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
             mcu_enable.setup_max_duration(0.)
             pin_params['class'] = enable = StepperEnablePin(mcu_enable)
+        else:
+            enable.is_dedicated = False
         enable_list.append(enable)
     if len(enable_list) == 1:
         return enable_list[0]
@@ -54,21 +58,30 @@ def lookup_enable_pin(ppins, pin_list):
 class EnableTracking:
     def __init__(self, printer, stepper, pin):
         self.stepper = stepper
+        self.callbacks = []
         self.is_enabled = False
         self.stepper.add_active_callback(self.motor_enable)
         self.enable = lookup_enable_pin(printer.lookup_object('pins'), pin)
+    def register_state_callback(self, callback):
+        self.callbacks.append(callback)
     def motor_enable(self, print_time):
         if not self.is_enabled:
+            for cb in self.callbacks:
+                cb(print_time, True)
             self.enable.set_enable(print_time)
             self.is_enabled = True
     def motor_disable(self, print_time):
         if self.is_enabled:
             # Enable stepper on future stepper movement
+            for cb in self.callbacks:
+                cb(print_time, False)
             self.enable.set_disable(print_time)
             self.is_enabled = False
             self.stepper.add_active_callback(self.motor_enable)
     def is_motor_enabled(self):
         return self.is_enabled
+    def has_dedicated_enable(self):
+        return self.enable.is_dedicated
 
 class PrinterStepperEnable:
     def __init__(self, config):

klippy/extras/tmc.py

@@ -82,10 +82,15 @@ class FieldHelper:
 class TMCCommandHelper:
     def __init__(self, config, mcu_tmc):
         self.printer = config.get_printer()
+        self.stepper_name = ' '.join(config.get_name().split()[1:])
         self.name = config.get_name().split()[-1]
         self.mcu_tmc = mcu_tmc
         self.fields = mcu_tmc.get_fields()
         self.read_registers = self.read_translate = None
+        self.toff = None
+        self.printer.register_event_handler("klippy:connect",
+                                            self._handle_connect)
+        # Register commands
         self.gcode = self.printer.lookup_object("gcode")
         self.gcode.register_mux_command(
             "SET_TMC_FIELD", "STEPPER", self.name,
@@ -93,13 +98,21 @@ class TMCCommandHelper:
         self.gcode.register_mux_command(
             "INIT_TMC", "STEPPER", self.name,
             self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
-        self.printer.register_event_handler("klippy:connect",
-                                            self._handle_connect)
     def _init_registers(self, print_time=None):
         # Send registers
         for reg_name, val in self.fields.registers.items():
             self.mcu_tmc.set_register(reg_name, val, print_time)
     def _handle_connect(self):
+        # Check for soft stepper enable/disable
+        stepper_enable = self.printer.lookup_object('stepper_enable')
+        enable_line = stepper_enable.lookup_enable(self.stepper_name)
+        if not enable_line.has_dedicated_enable():
+            self.toff = self.fields.get_field("toff")
+            self.fields.set_field("toff", 0)
+            enable_line.register_state_callback(self.handle_stepper_enable)
+            logging.info("Enabling TMC virtual enable for '%s'",
+                         self.stepper_name)
+        # Send init
         retry_count = 0
         while 1:
             try:
@@ -129,6 +142,18 @@ class TMCCommandHelper:
         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)
+    # Stepper enable/disable via comms
+    def _do_enable(self, print_time, is_enable):
+        toff_val = 0
+        if is_enable:
+            toff_val = self.toff
+            print_time -= 0.100 # Schedule slightly before deadline
+        val = self.fields.set_field("toff", toff_val)
+        reg_name = self.fields.lookup_register("toff")
+        self.mcu_tmc.set_register(reg_name, val, print_time)
+    def handle_stepper_enable(self, print_time, is_enable):
+        cb = (lambda ev: self._do_enable(print_time, is_enable))
+        self.printer.get_reactor().register_callback(cb)
     # DUMP_TMC support
     def setup_register_dump(self, read_registers, read_translate=None):
         self.read_registers = read_registers
@@ -203,30 +228,8 @@ class TMCVirtualEndstop:
         self.mcu_tmc.set_register("TCOOLTHRS", 0)
         self.mcu_endstop.home_finalize()
 
-# Digital output wrapper for virtual enable
-class TMCVirtualEnable:
-    def __init__(self, printer, mcu_tmc):
-        self.reactor = printer.get_reactor()
-        self.mcu_tmc = mcu_tmc
-        self.fields = mcu_tmc.get_fields()
-        self.toff = self.fields.get_field("toff")
-        self.fields.set_field("toff", 0)
-    def setup_max_duration(self, max_duration):
-        pass
-    def _do_set_digital(self, print_time, value):
-        toff_val = 0
-        if value:
-            toff_val = self.toff
-            print_time -= 0.100 # Schedule slightly before deadline
-        val = self.fields.set_field("toff", toff_val)
-        reg_name = self.fields.lookup_register("toff")
-        self.mcu_tmc.set_register(reg_name, val, print_time)
-    def set_digital(self, print_time, value):
-        self.reactor.register_callback(
-            (lambda ev: self._do_set_digital(print_time, value)))
-
 class TMCVirtualPinHelper:
-    def __init__(self, config, mcu_tmc, diag_pin=None):
+    def __init__(self, config, mcu_tmc, diag_pin):
         self.printer = config.get_printer()
         self.mcu_tmc = mcu_tmc
         self.diag_pin = diag_pin
@@ -235,18 +238,12 @@ class TMCVirtualPinHelper:
         ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
     def setup_pin(self, pin_type, pin_params):
         ppins = self.printer.lookup_object('pins')
-        if pin_params['pin'] not in ('virtual_endstop', 'virtual_enable'):
-            raise ppins.error("Unknown tmc virtual pin")
+        if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
+            raise ppins.error("tmc virtual endstop only useful as endstop")
         if pin_params['invert'] or pin_params['pullup']:
             raise ppins.error("Can not pullup/invert tmc virtual pin")
-        if pin_params['pin'] == 'virtual_enable':
-            if pin_type != 'digital_out':
-                raise ppins.error("tmc virtual enable only useful for enable")
-            return TMCVirtualEnable(self.printer, self.mcu_tmc)
         if self.diag_pin is None:
             raise ppins.error("tmc virtual endstop requires diag pin config")
-        if pin_type != 'endstop':
-            raise ppins.error("tmc virtual endstop only useful as endstop")
         mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
         return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
 

klippy/extras/tmc2208.py

@@ -187,8 +187,6 @@ class TMC2208:
         # Setup mcu communication
         self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
         self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
         cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
         cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)

klippy/extras/tmc2660.py

@@ -242,8 +242,6 @@ class TMC2660:
         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)
-        # Allow virtual pins to be created
-        tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
         # Register commands
         cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
         cmdhelper.setup_register_dump(ReadRegisters)